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)

Information from invalid sources
Another source agreed with the character's depiction on the back cover. (NOTVALID: The Universe is Calling)

Other matters
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 Dennis the Menace in Balloonatics and The Invasion of Bash Street.