Observation of some animals running can give an estimate of their speed in terms of distance covered in a minute. Watching some TV programs on them gives some idea. You also know the relative speeds of animals. Like elephant runs slower than some other animals. That helps in estimations.
You can calculate the speed of cat, dog, rabbit, lizard, cows and goats from your seeing of their running. You would have seen them running some time of other.
Domestic animals are: cats, dogs,
goats, buffallos, cows, rats, rabbits, lizards etc.
Cat - 45 kmph
Dogs - 50 kmph
Rabbit - 50 kmph
Rats - 24 kmph
Lizards - 0.3 kmph
Cows - 12 kmph
Goats - 25 kmph
These are approximate estimates.
Cheetah - can run 100 kmph or more
Lion - 50 kmph to 60kmph - a lion cannot run at
high speed for a long time
Tiget 60 kmph
Horses in races - can run upto 80 to 90 kmph
Elephants can run to 30 kmph