Rape was non-consensual sex, usually effected through violence. (PROSE: Human Nature) on most planets, especially human colonies, it carried the death penalty.
In the 1st century BC, it was common practice for Roman soldiers to rape women before killing them in order to instil fear in the places they conquered. Erimem killed several Roman soldiers and later expressed to Andy Hansen that if she hadn't, they likely would have raped her and Andy before murdering them. Later, Anna Whitaker was nearly raped by drunk men because she had turned down the lewd advances of one man the previous night. (PROSE: The Last Pharaoh)
In 60, Boudica, the Queen of the Iceni, rebelled against the Roman Empire when Roman agents raped the women of her kingdom. Her rebellion was swift and brutal: the offending Romans were, according to John Smith, "skinned alive and impaled on posts with their intestines... in their mouths". (PROSE: Human Nature)
During an incident in the village of Sair, Peri Brown had bedded with Tablibik whilst under his spell. The spell in question was the sole cause of any sense of desire Peri had torwards him, meaning that any sexual acts that they may have engaged in that night could not have been considered consensual. (PROSE: Fascination)
On 28 March 1963, 17-year old Lizzie Lewis was raped and murdered on the way home by Ed Morgan, the man whom she had just been to a dance with. (TV: Ghost Machine)
Dodo Chaplet was nearly raped by one of her fellow patients at the Glasshouse, probably in 1966. She cried out for help, but neither her fellow patients or the facility's staff would assist her. Instead, she had to defend herself against his violence. To stop him tearing at her gown and trying to force himself on her, she kicked him in the face. He stumbled backwards, and cracked his head on a table. Her would-be rapist died within a matter of moments. (PROSE: Who Killed Kennedy)
Sometime around 2006, Oswald Danes was convicted in Kentucky of raping and murdering a 12-year-old girl. (TV: The New World)
Michael Hughes date-raped Serena. Tyler Steele noted that the Sorvix found sexual assault particularly abominable despite their tolerance of other atrocities. (AUDIO: Tagged)
Behind the scenes
According to The Brilliant Book 2012, a book that contains non-narrative based information; in the 19th century, a group of Chinese criminals attempted to rape Jenny Flint, but were stopped by Vastra.