Pa Bear

A bear with brown fur and dungarees was depicted on the cover of The Beano Summer Special 1981 at Dolphinarium, with two other bears. (TV: The Rings of Akhaten, The Universe is Calling)

Behind the scenes
Although unnamed in the Doctor Who universe, the character is called Pa Bear in The Beano comic books, which crossed over with the Doctor Who universe in the first issue of BeanoMAX.