Panda

Panda was the 10 inch tall sentient, (possibly) toy Panda who travelled with Iris Wildthyme in the audio series from Big Finish and book series from Obverse Books.

In Wildthyme at Large it is established that prior to meeting up with Iris, Panda was a friend of Iris' former travelling companion, Tom.

Trivia
Panda may be Iris's response to K-9