A parachute was a type of aerial safety device.
The First Doctor used a parachute when the Pied Piper challenged him to jump from a turret window and float to the ground. (COMIC: Challenge of the Piper)
When a World War II-era aeroplane was transported back to 1890s London and damaged, the pilot parachuted out of it. Henry Gordon Jago, having never seen either a "flying machine" or a parachute, suggested to Leela that he should hire the pilot to perform his "act" at the New Regency Theatre. (AUDIO: Chronoclasm)
Whilst visiting the Worldsphere, the Seventh Doctor met a parachute that designed apple trees in its spare time. (PROSE: The Also People)
Ace recalled Sergeant Drew Smith bringing in a parachute team to Perivale Youth Centre one cold, rainy bank holiday. (PROSE: Nightshade)
The Eleventh Doctor and Amy Pond once used a giant leaf as a parachute when escaping the Pulpavores. (COMIC: The Evergreen Death)
During the Eleventh Doctor's time on Trenzalore, six Autons parachuted to the surface to kill him. (PROSE: Strangers in the Outland)
During Ramón Salamander's attempted revenge on the Doctor, the Master escaped UNIT custody by fashioning one of his ultra-realistic masks into a parachute as a leapt from a helicopter. (COMIC: The Heralds of Destruction)