Gargoyles

From Srafopedia

When Lyra and Roger break into the wine cellars of Jordan College and get drunk, their dæmons try to outdo one another in taking the forms of outrageous gargoyles.

Gargoyles are decorative waterspouts adorning churches and other buildings. Because they so often depict grotesque and ugly humans or animals, their purpose came to be thought of as scaring off evil as much as draining water away from the buildings they guard.

Although Pan once takes the form of a dragon, and one of the dead masters had a basilisk dæmon, this is the only instance of dæmons taking non-animal forms.