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To avoid spoilers in the main Q&A section, please do to not post information about stories that have not been released in the UK, or ask for information about stories that have not yet aired there.

In no particular order:

Elizabeth I (several mentions & appeared briefly in "The Shakespeare Code");
Elizabeth II (he had tea with her, according to Elizabeth X, "Liz Ten");
Elizabeth X ("The Beast Below");
Victoria ("Tooth and Claw");
Richard I, "the Lionheart" ("The Crusade");
Athelstan (mentioned in "Planet of the Dead");
Charles II ("The Impossible Astronaut", opening sequence);
Henry VIII ("The Power of Three");
an android (Kamelion) impersonating John but not the real King John ("The King's Demons");
Henry XII (mentioned in "The Beast Below").

These are from TV stories. He has met others in non-TV stories.