According to the Second Doctor, taste was one of the five senses of human beings. (TV: The Evil of the Daleks) It was received through taste buds. (TV: Invasion of the Bane)

The TARDIS food machine provided blocks with different tastes. (TV: The Daleks)

The First Doctor observed that a meal served to him by the Aridians had a "most unusual taste" though he nevertheless enjoyed it. (TV: The Chase)

Jackie Tyler felt that the coleslaw in a cafe tasted "a bit sort of clinical." (TV: The Parting of the Ways)

In Pete's World, Pete Tyler was told by the President of Great Britain that his health drink, Vitex, tasted like pop. Pete explained that it was pop. (TV: Rise of the Cybermen)

The Abzorbaloff felt that the humans he absorbed tasted "so sweet". He openly wondered how the Tenth Doctor would taste, considering all his experience and knowledge. Upon absorbing Ursula Blake, he claimed that she tasted like chicken. (TV: Love & Monsters)

Clyde Langer figured that the Rakweed plant tasted like salad. (TV: The Gift)

Shortly following his regeneration, the Eleventh Doctor found that everything tasted wrong as he had a new mouth. (TV: The Eleventh Hour)

The Eleventh Doctor gave Miranda Cleaves a solution to her blood clot which tasted like burnt onions. (TV: The Almost People)