Humanoid

Humanoid was a term that broadly described a species such as the Time Lords or Raxacoricofallapatorians. A humanoid species was thought of as one which was bilaterally symmetrical, bipedal, and possessed of a naturally upright posture. Such species also typically had two arms, two legs, one thorax, a neck and head with a brain located in it. Humanoids of this description were very common in the universe. (PROSE: Galaxy Four) The Tenth Doctor described "your basic humanoid" as simply having a "few limbs and a face." (TV: Silence in the Library)

Humanoid was related to human-ish, but did not automatically carry with it that word's implication of insult.

Humanoid self-identification
Some species readily identified as humanoid. For instance Repple once told the Ninth Doctor and Rose that his race, the Katurians, were "humanoid, but not human". (PROSE: The Clockwise Man)

Opinions of non-humanoids
Non-humanoids sometimes opined about humanoids. Daleks thought of taxonomic humanoids as excellent source of concentrated protein (TV: Revelation of the Daleks) and as useful work machines with little other value. (TV: Destiny of the Daleks) The Mantasphid Queen once called them "fleshy bipeds." (TV: The Infinite Quest) And at least one Rill believed that the humanoid form was poorly adapted and led to a shorter lifespan. (PROSE: Galaxy Four)

Theories as to the ubiquity of humanoids
One of the more popular theories about why there were so many humanoid species was that the evolution of Gallifreyans relatively early in the history of the universe caused a morphic field for the humanoid form that resonated across the universe and influenced the development of later species in a similar direction. (PROSE: Lucifer Rising)

Another implied that Rassilon seeded the early planets with biogenic molecules that would develop into humanoids, specifically ones which resembled Time Lords. (AUDIO: Zagreus)