Dracula

Dracula was a fictional vampire inspired by the historical character of the same name. As such, he belonged to the the council of fictional villains encountered by the Master when the later visited the Land of Fiction (DWM: Character Assassin) The character also inspired a robot recreation built in his image which "haunted" the House of Horrors in the Festival of Ghana (DW: The Chase).

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.