1190s

The 1190s was the time of the Third Crusade, the principal aim of which was for European Christian forces to retake control of Jerusalem and the Holy Land from Muslim occupation. The First Doctor, Ian Chesterton, Barbara Wright and Vicki Pallister arrived in Palestine in the middle of a battle between Richard the Lionheart and Saladin. (TV: The Crusade) By the Doctor's reckoning, this event took place some time between 1190 and 1192. (PROSE: Doctor Who and the Crusaders)
In what the Twelfth Doctor called "1190-ish", he and Clara Oswald went to Sherwood Forest and encountered Robin Hood, the Sheriff of Nottingham and some robots trying to get to the Promised Land. (TV: Robot of Sherwood)