Gay was slang, at least in the 20th and 21st centuries on Earth, for homosexuality. (TV: Let's Kill Hitler) It was, in some ways, synonymous with queer. (PROSE: Damaged Goods, Beyond the Sun) In this sense, it was not necessarily a pejorative, but merely a statement of sexual orientation.
However, it was also used as a clear insult, meaning weak or lame. Rose Tyler, for instance, once claimed that the Ninth Doctor was "so gay" for complaining about the pain of being slapped in the face by her mother. (TV: Aliens of London)