Barbarella

Barbarella was a French adult comic book created by Jean-Claude Forest which told the story of Barbarella, a young woman who has many adventures, often including sex, as she traveled around the galaxy. She was famed for wearing not very much at all. (REF: Doctor Who: The Encyclopedia)

The Ninth Doctor jokingly called Rose Tyler "Barbarella" when she was going to go out in 1869 wearing her early 21st century attire, he said she would "start a riot". (DW: The Unquiet Dead)

Following her death from eating a Kaled mutant, Iris Wildthyme, a renegade Time Lady, regenerated into a Barbarella-like incarnation. She encountered the Eighth Doctor in this form in the Obverse. (EDA: The Blue Angel)