Chariot

A chariot was a type of carriage, usually drawn by a horse or perhaps a small team of horses. It pulled one passenger in a standing position, and was often used in battle. The Second Doctor, Jamie and Zoe encountered Romans on chariots when they crossed into the Roman Time Zone on an unnamed planet controlled by the War Lord. (DW: The War Games)

When in Ancient Egypt, Rory Williams drove his wife and the Eleventh Doctor in a chariot through busy city streets while pursued by Egyptian soldiers. Rory was able to drive a chariot due to his time as a Roman soldier. (IDW: Assimilation²)

Behind the scenes
The apocryphal film Dr. Who and the Daleks ends with Roman soldiers in chariots bearing down on the protagonists, newly arrived in ancient times from their adventures on Skaro.