Major Daly was a retired officer in the British Army and the father of Claire Daly. In 1926, they took passage on the SS Bernice, which was removed from space and time and placed in a miniscope which eventually came into Vorg's possession. Major Daly, along with the rest of the passengers and crew of the Bernice, was returned to Earth by the Third Doctor.
During his time in the scope, Daly read the same passage from his book over and over; this was due to a mental conditioning. When released from the scope and returned to Earth, he finished his book. He said it was "the longest book I've ever read". (TV: Carnival of Monsters)