Westminster Bridge (TV: Army of Ghosts) was a bridge in London near the Houses of Parliament that was visited by two incarnations of the Doctor.
In 2005, the Ninth Doctor and Rose Tyler ran across the bridge to the London Eye, in search of the Nestene Consciousness. (TV: Rose)
In 2007, Alistair Appleton reported on Ghostwatch that "ghosts", which were actually Cybermen passing through the Void, were in a regular — almost military — formation gathering around Westminster Bridge. (TV: Army of Ghosts)
In 2013, the Eleventh Doctor and Clara Oswald rode an anti-gravity motorbike down the bridge, in search of the people who tried to attack Clara. (TV: The Bells of Saint John)
On or around 2164, Daleks glided over a then-deserted Westminster Bridge. (TV: The Dalek Invasion of Earth)