Dracula

Count Dracula was a fictional vampire created by Bram Stoker, inspired by the historical character of the same name.

As such, he belonged to the Sisyphean Society, a council of fictional villains encountered by the Master when the later visited the Land of Fiction (DWM: Character Assassin)

Melanicus created an illusion of Dracula to frighten the the Doctor, which the latter dismissed it as "a strictly mythical figure drawn largely from a work of Victorian fiction." (DWM: The Tides of Time)

The character also inspired a robot recreation built in his image which "haunted" the House of Horrors in the 1996 Festival of Ghana. (DW: The Chase)

Minor references
Jo Grant, upon seeing Stangmoor Prison, said that it looked like Dracula's castle. (DW: The Mind of Evil)

Behind the Scenes
In the Doctor Who Universe, real vampires exist as well, as first shown in State of Decay and later in other stories. However the historical Dracula had no connection to them.