Camel

Camels were large Earth mammals typically used as beasts of burden in deserts. Like sheep or cattle, they were herded. In some parts of the world, it was extremely commonplace to see camel-herders tending to their flock. Indeed, Cameron Campbell once travelled in rural India, and was disturbed by the fact he couldn't see even a single camel-herder at work. (PROSE: Ghosts of India)

The Dromedans of New Earth were descended from camels. (AUDIO: The Cats of New Cairo)

Encounters with camels
The Tenth Doctor and Martha Jones once rode camels in the Egypt of 2375 BC. (COMIC: Minus Seven Wonders)

Babylon's army contained camel riders. They were deployed to fight against the invading Starman, but the camels were hard to control, as the Starman frightened them. (PROSE: The Beast of Babylon)

In 332 BC, the First Doctor and Barbara Wright rode camels to Alexandria in Egypt. (PROSE: The Book of Shadows)

In Egypt of 1880, Arabs used camels to drag the TARDIS to their camp (with the Second Doctor, John and Gillian inside it). (COMIC: Egyptian Escapade)

The Fifth Doctor and Amy encountered a number of camels when the TARDIS crashed in a desert proximate to the city of Dunqulah during their search for the Key to Time. (AUDIO: The Destroyer of Delights)

The Third Doctor once visited an alternate future where mutant humans rode six-legged camels. (COMIC: A Stitch in Time)

The First Doctor, John and Gillian rode on camels from an oasis to a plantation on an unnamed planet. (COMIC: Plague of the Black Scorpi)

Voyager was riding a camel when he appeared to Astrolabus. (COMIC: Once Upon a Time-Lord)

The Eleventh Doctor once joked that he kept a camel in his TARDIS. (TV: The Bells of Saint John)

The Eleventh Doctor and Clara encountered a sandstorm created by an alien camel. (COMIC: Sandblasted)

Other references
The Mona Lisa claimed that her model laughed "like a camel". (TV: Mona Lisa's Revenge)

Camels were listed in the Avalonian Bestiary of all animal life on the Earth colony Avalon. (PROSE: The Sorcerer's Apprentice)