Giraffe

Giraffes were Earth ruminants.

K9 once encountered one on an unnamed planet in another dimension, partially inhabited by ex-Tellac miners. They lived alongside other Earth animals from widely varying periods of evolutionary history. (PROSE: K9 and the Missing Planet)

In about 120 AD, the Tenth Doctor learned that Roman authorities kept giraffes as a part of a menagerie that included leopards, elephants and a wide range of other, chiefly African, animals. Some of the beasts were kept for hunting, and others were used to face off against prisoners in local arenas. The Doctor was incensed by the practise, because he knew it would lead to the extinction of several of the species. (PROSE: The Stone Rose)

Martha Jones remembered seeing giraffes in the zoo which she visited as a child. (PROSE: The Last Dodo)

The Eleventh Doctor invented a dance called the drunk giraffe. (TV: The Big Bang, The Time of the Doctor)