These are some estimates from experience related to domestic animals. You could watch them run and then you can roughly estimate their speed relative to other moving objects nearby.
Domestic animals are: cats, dogs,
goats, bufallos, cows, rats, rabbits, lizards etc.
Cat - 45 kmph Dogs - 50 kmph
Rabbit - 50 kmph Rats - 24 kmph
Lizards - 0.3 kmph Cows - 12 kmph
10 kmph Goats - 25 kmph
These numbers we have heard or read in our books.
Cheetah - can run 100 kmph or more
Lion - 50 kmph to 60 kmph - a lion cannot run at
high speed for a long time
Tiger 60 kmph
Horses in races - can run up to 80 to 90 kmph
Elephants can run up to 30 kmph