Beef was, as noted by Mr Copper, a local delicacy on Earth. (TV: Voyage of the Damned)
In 1857, many sepoys came to believe that their gun cartridges were being coated in beef or pork fat. As Hindus couldn't handle beef and Muslims couldn't touch pork, they mutinied. (PROSE: All-Consuming Fire)
Upon taking Rose Tyler to see the Earth's destruction in the year five billion, the Ninth Doctor jokingly mentioned beef as one of the things humanity thought would cause their extinction. (TV: The End of the World)
According to Rose Tyler, Zaffic was like a Slush Puppie but with a flavour like beef. (TV: The Long Game)