The Wirrn

The Wirrn are a breed of intelligent man-sized insect that look like wasps. They exist in space and occasionally land in search of food and breading facilities. With that, the Wirrn Queen got into the Nerva Beacon, where she layed her eggs in one of the sleeping humans. He nurtured the larva and many Wirrn were hatched. The captain of the Beacon, Noah, slowly changed into one of the Wirrn and he led them into a spaceship and the spaceship was destroyed.

Nerva was originally made as a space beacon and was attacked by the Cybermen who tried to use the beacon to destroy Voga, the planet of gold. The Doctor had visited Nerva later in history when, with the life of Earth was threatened by solar flares. It was then converted into an ark for the inhabitants of Earth and all plant and animal life. They were in the ark, waiting for the Earth to become safe again, but while they slept they got a visit from the Wirrn. The Doctor managed to alert the crew to the danger and helped them to defeat the Wirrn and return to Earth. 

The Wirrn were only in The Ark in Space.

Soundtrack of The Wirrn in the Infrastructure