A wide variety of species could naturally see infrared, including Silurians (TV: Doctor Who and the Silurians), Vegans (PROSE: Legacy), V'orrn (PROSE: Placebo Effect) and Wrarth Warriors (DWM: The Star Beast).
Other species used artificial methods to see infrared. The Eleventh Doctor had sunglasses which could function as thermal imaging scanners. (TV: The Hungry Earth) The Dalek eyepiece also had an infrared scanner. (TV: Destiny of the Daleks)