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A Time Lord can change species by the use of a Chameleon Arch, as shown in "Human Nature"/"The Family of Blood".

In "The Parting of the Ways", while explaining regeneration to Rose Tyler, the Ninth Doctor implied that he might regenerate into a non-humanoid form but he gave no real explanation of this & nothing further has been revealed about it. (It should be noted that the Ninth Doctor's words could have been referring to an incomplete -- noseless or even headless -- humanoid form, rather than to a non-humanoid form.)