Monkey

Monkeys were primates originating on Earth.

When Silurians ruled the Earth, a young Silurian named Kaya kept a monkey named Leefa as a pet. (DWAN: The Little Planet)

The bandit Kuiju owned a pet monkey which rode on his shoulder. Kublai Khan gave the First Doctor a walking stick with the image of a small monkey scaling the spiraling stem. (DW: Marco Polo)

Humans commonly used monkeys for scientific experimentation, as did several teams of which Alex Minin was a member. (NSA: The Deviant Strain)

The Fourth Doctor and Leela encountered a golden lion tamarin at the London Zoo. It had been mind-controlled by General Secretary Murigan Epinephelus III to steal all the keys to the cages from the zookeepers and set the animals free. (ST: Stanley)

The Palanth looked like a cross between a monkey and a cat. (DWA: Blood and Tears) The Drexxons also were similar in appearance to monkeys, as noted by Amy and Rory. (NSA: Death Riders) Mokeys were a distant relative of the monkey. (EDA: Halflife)