Zeppelins were a form of airship invented by humans in the 20th century. They were mostly used as transport, but also had military uses.
The First Doctor and Susan Foreman mentioned having observed a Zeppelin air raid during World War I. (TV: Planet of Giants; AUDIO: The Alchemists)
The Daleks used a Zeppelin to transport their ship Survey Ship Sigma to France during the First World War. When the Daleks were defeated, the Zeppelin lost air. (COMIC: The Dalek Project)
One account stated that the Preachers used an armed Zeppelin to free Paris from Cyberman control. The Zeppelin used its weaponry to destroy Cybermen on the streets whilst retrieving civilians and scientists. The Zeppelin finally transmitted the code which disabled the Cyberman emotional inhibitor and destroyed the Cyber-factory. (GAME: Save Paris) However, another account suggested Zeppelins weren't used in the liberation of Paris. (GAME: Cyber Assault)
The Thirteenth Doctor obtained two zeppelins from the Blitz to use as balloons for Yasmin Khan's surprise birthday party. (PROSE: Dr. Thirteenth)
Pete's World
In Pete's World, Zeppelins covered the skies of London in February 2007 and were owned by the richest businessmen. They were typically made from a light aluminium alloy. (TV: Rise of the Cybermen)
A Zeppelin owned by John Lumic had a gondola, complete with crew accommodation, such as for when the President and Pete Tyler witnessed Lumic's presentation on "Cybermen". Secretly, Lumic was also capable of transmitting a signal to Londoners' EarPods from a transmitter protruding from the front of his ship; this forcibly brought the humans to Battersea Cyber-factory to be upgraded. John kept at least one brainless Cyberman onboard. Jake Simmonds and Mickey Smith tricked the Cyberman into punching the transmitter controls, releasing the humans from being controlled. The high voltage disabled the Cyberman. This Zeppelin was later used by the Tenth Doctor, Rose Tyler and Pete Tyler as a means of escape from the exploding Battersea Power Station. (TV: The Age of Steel)
Jackie and Pete Tyler once took a private zeppelin to Malaga. (PROSE: The Turning of the Tide)