Dracula

Count Dracula was a fictional vampire created by Bram Stoker, inspired by the historical character of the same name.
 * For other individuals named Dracula, see Dracula (disambiguation).

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

Melanicus created an illusion of Dracula to frighten the Fifth Doctor, which the latter dismissed 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)

The Fifth Doctor would later meet his historical namesake, also known as Prince Vlad or Vlad the Impaler, in 1462 (BFA: Son of the Dragon) whereas the Sixth Doctor met the literary vampire in the Land of Fiction (BFA: Legend of the Cybermen).

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

When exposing Josiah Samuel Smith to harmful sunlight, Ace called him Dracula. (DW: Ghost Light)

Reverend Wainwright noted that the events of Dracula had taken place near Maiden's Point, where vampires were rising from the sea. (DW: The Curse of Fenric)

In the Land of Fiction
Dracula was stationed at Camalot, after Sherlock Holmes died. He was eventually converted into a Cybermen, but it failed as he already was dead. He led the attack on the cyber planner, in order to make them believe that cybermen do not exist. (BFA: Legend of the Cybermen).

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.