12th century

The 12th century was perhaps most associated with the rise of Robin Hood, the reign of Richard the Lionheart and the waging of the Crusades in Palestine. Two accounts reported a rendezvous between the Doctor (and some of his companions) and Robin Hood and his Merry Men. (PROSE: The Thief of Sherwood, TV: Robot of Sherwood)

Piloting the Doctor's TARDIS, Nardole visited Constantinople in the 12th century, in which he acquired a robe, as one of "a few accident stop-offs" before successfully retrieving the Twelfth Doctor from Harmony Shoal's head office in 21st century New York. (TV: The Return of Doctor Mysterio)

At some point between 1190 and 1192, (PROSE: Doctor Who and the Crusaders) the First Doctor, Ian, Barbara and Vicki landed near Jerusalem and found themselves caught between the camps of Richard I and Saladin. (TV: The Crusade)

It was also among the centuries endured by Ashildr, (TV: The Woman Who Lived) a 9th century Viking girl who was rendered effectively immortal when she was brought back to life by the Twelfth Doctor through a self-repairing Mire repair kit. (TV: The Girl Who Died)