Warp drive is a form of faster-than-light travel. Human ships used warp drive by the 26th century and even into the 51st century.
Before Human life - and all life on Earth for that matter - even began, the Jagaroth created space ships that used warp drive. The drive could be set at Warp 1, Warp 2, or Warp 3, however, Warp 3 would have been suicide if the ship did not have fully working warp drive. (DW: City of Death)
Human ships of the 26th century were powered by antimatter, which may be required for warp drive. Should the navigational computers be tampered with while a ship is in warp drive, it could disintegrate. Warp drive-powered starships were in use up to and possibly beyond the 51st century. (DW: Earthshock, The Girl in the Fireplace)
Warp shunt technology, used by the Nestenes to reach Earth in 2005, could have been a form of warp drive. (DW: Rose)
Behind the scenes
The use of the term "warp drive" may have been a nod to the Star Trek franchise, which featured warp engines.