Centipede

The Twelfth Doctor described the Lothan as "giant centipedes". (TV: For Tonight We Might Die)

Nardole described the Qol as "alien centipedes". (PROSE: Pain Management)

The Tenth Doctor described the Terpsivores as "60-foot long centipedes". (COMIC: Death Disco)

Jason described the "Wet Puppy" aliens as having lots of legs like a centipede. (PROSE: Cuckoo-Spit)

Queegvogel was a centipede-like alien. (PROSE: Burning Heart)