Will Scarlet
From Tardis Wiki, the free Doctor Who reference
Will Scarlet was one of Robin Hood's band of outlaws, the Merry Men, in the 12th century. He and Little John captured the First Doctor and Barbara Wright. (PROSE: The Thief of Sherwood)
Robin Hood defined him a "cheeky rogue with a good sword hand and a slippery tongue".
Along with his fellows, he encountered the Twelfth Doctor and Clara Oswald in 1190. The Time Lord snipped off a lock of his hair, to evaluate if he were human or not. (TV: Robot of Sherwood)