Pipe person

The Pipe People were the native inhabitants of Terra Alpha. They were forced to live under ground when humans colonised the planet. The Doctor help them start a rebellion against the human population. Once Helen A's government was brought down they started to live with the humans.(DW: The Happiness Patrol)

Behind the Scenes
It is probally not the species name but since the serial was produced 21 years ago I dont think we will get to know.