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I can think of at least 2 occasions that the Doctor has fired a weapon and Killed "someone" in the Tv series.

In botht e 5th and 6th incarnation of the Doctor, He used a gun to slay Cybermen.

I think he also used a gun to kill several Sontarans in "The Invasion of Time".

All of those are correct: One of the first times I saw was in "Day of the Daleks" (Jon Pertwee) when he killed an Ogrun with a disintegrator pistol.