Ape

Apes were a variety of primate native to Earth. Reverend Ernest Matthews was turned into an ape by Josiah Samuel Smith as a joke at his disbelief in the evolution of man from apes. (DW: Ghost Light)

A species of ape known as "Ice Apes" lived under the Antarctic ice cap. (TVC: Ice Cap Terror)

As insult
Silurians referred to humans as apes. Alaya indicated that she used to hunt apes for sport. Other Silurians would simply use a virus on them. (DW: Cold Blood, Doctor Who and the Silurians) In his ninth incarnation, the Doctor called humans "stupid apes" on a few occasions. (DW: Rose, Father's Day)