These were usually oxen, though occasionally cows were used. Donkeys were used for pulling small loads.
Horses were hardly ever used as draught animals, their use being reserved for military purposes or for riding by the nobility & gentry. Only the upper classes, or wealthy merchants, owned or rode horses as a rule- to have a horse was a sign of social status.
Oxen were also used for agricultural purposes, to draw ploughs and harrows or to power milling machinery. Their use died out in England in Victorian times, though they are still widely used in rural France.