Rhinoceros

es, or rhinos, were Earth rhinocerotids K9 once encountered on an unnamed planet in another dimension, partially inhabited by ex-Tellac miners.

They lived alongside other Earth animals from widely varying periods of evolutionary history. (AK9: K9 and the Missing Planet)

The Second Doctor and Jamie once used a herd of animals — which included es — to stampede a group of Quarks. (TVC: Jungle of Doom)