Dalek invasion of Earth

Across their history, the Daleks launched multiple invasions of Earth, with both the Time Lords and far future human historians being aware that the Daleks from various basetimes had made incursions throughout the planet's history. (PROSE: Dalek Combat Training Manual, Dalek: The Astounding Untold History of the Greatest Enemies of the Universe)

Later history
The Time Lords understood that two Dalek plots to invade the galaxy of Mutter's Spiral, Operation Divide and Conquer in 2540, and the Daleks' master plan in the 40th century, were a means to enslave humanity. (PROSE: Dalek Combat Training Manual)

As both Gordon Lowery and Marc Cory understood in the year 4000, the Daleks had invaded Earth a thousand years prior before they disappeared from human space. (TV: Mission to the Unknown) By another account, Lowery stated that every schoolkid knew that the Daleks invaded Earth "a couple of times, and were beaten back", with not much having been heard about them since the Movellan Wars a thousand years prior. (PROSE: Mission to the Unknown)

The Time Lords indicated that, following the 22nd century invasion, another overt Dalek invasion of Earth would not come until the Bad Wolf Incident in 200,100. (PROSE: Dalek Combat Training Manual)

Undated events
The Dalek invasion of Tuvalu was an incident which the Eighth Doctor recalled having thwarted with Sam Jones. (PROSE: Unnatural History)

Behind the scenes
"2075 AD. And the Daleks have invaded Earth once more. Using their mighty Saucer ships they bombard London driving the surviving population underground. Once they land, the Daleks patrol the ground looking for survivors in the rubble to either exterminate or transform into their puppets using Dalek nanocloud technology. In the skies the Daleks use long range "Hoverbout" anti-gravity disks to pursue the resistance. The TARDIS materialises near to a Trans-Sys matter transmission station in Hyde Park and the Doctor realises that he will need all his resources to once again defeat his oldest enemies and save the Earth from destruction. The future of the human race hangs in the balance."
 * The Dalek Handbook states that, long after the 26th century conflict and the Exxilon Gambit, the Dalek Wars ended with another short-lived invasion of Earth (following the 2150s Dalek invasion of Earth) around the year 3000, after which humanity saw little to no Dalek activity for 500 years.
 * Character Options' Dalek Invasion Time Zone Playset depicted an invasion of Earth by bronze Daleks in the year 2075.

- Character Options