Dreilyn

The Dreilyn (also known as "heat vampires") were a humanoid race possessing pointed ears and segmented eyes. They required drawing body heat from other beings to survive, although this was normally a tiny amount of heat which didn't affect the donors. Despite this, the Dreilyn were feared and shunned wherever they went. They became the gypsies of the galaxy, begging what they needed to survive.

A female Dreilyn named Olla was very briefly a companion of the Seventh Doctor. (COMIC: A Cold Day in Hell!, Redemption!)