Muppet

Jim Henson's Muppets (founded in 1955) is a highly popular puppeteering act, which several works of it have been referenced in the Doctor Who franchise

Sesame Street

 * In the 2005 Ninth Doctor novel Winner Takes All, the Doctor jokes that Cookie Monster is actually an alien.

The Muppet Show

 * In the 2006 episode "Tooth and Claw", the Doctor tells his companion, Rose, that he's going to take her to the year 1979, to see Ian Dury in concert. "1979, hell of a year!" the Doctor exlaims. "China invades Vietnam... The Muppet Movie -- love that film!

Bear In The Big Blue House

 * A Tutter doll is seen on Donna's desk during a flashback to her past with Lance in the 2006 Christmas special, The Runaway Bride.

Referenced
Nurse Janice: Who, doctor? Dr. Bob: It's not who doctor, it's Doctor Who. That's another show.
 * In the Veterinarian's Hospital sketch from The Muppet Show episode 422:
 * The Pigs in Space comic in The Muppet Show Annual 1978 features a food fight with several sci-fi references. Amongst them, a robot can be seen exclaiming "Egg-sterminate!" -- the battle cry of the Doctor's recurring villain race, the Daleks.
 * The booklet for the 2009 HeroesCon in Charlotte, North Carolina, featured a Doctor Who parody with Dr. Bunsen Honeydew as the Fourth Doctor and Beaker as Romana II standing in front of the TARDIS. The artwork was provided by Roger Langridge, writer and artist for The Muppet Show Comic Book and a former illustrator for Doctor Who magazine.[1]

Trivia

 * Christopher Eccleston appeared in the ITV documentary Best Ever Muppet Moments, talking about his memories of the Muppets. He was quoted as saying "I think really it was the brilliance of the writing. The puppets were great, but the scripts were extraordinary.", "I loved Bunsen, the mad scientist, who was forever exploding Beaker." and "Gonzo was a great character because Gonzo was like all of us: wanting to be great and was forever nearly killing himself. It was kinda tragic comedy, too."
 * David Tennant is a fan of the Muppets, scheduling with Doctor Who forced him to avoid appearing on the iTV documentary
 * Jon Pertwee was also a huge fan of the Muppets.

Doctor Who contributors who have contributed with the Muppets
Douglas Adams Michael Attwell Annette Badland Tim Barker John Barrowman Timothy Bateson Geoffrey Bayldon Robert Beatty Ailsa Berk Honor Blackman David Bulbeck Peter Burroughs played a jester in "The King's Demons" (1983) Navin Chowdhry John Cleese Tim Condren Graham Crowden Ken Dodd Christopher Eccleston Tracey Eddon David Forman Stephen Garlick Mark Gatiss Sheila Hancock Peter Hawkins Derek Jacobi Michael Kilgarriff Burt Kwouk Phyllida Law Hus Levant Hugh Lloyd Fulton MacKay Steven Mackintosh Jean Marsh Kylie Minogue John Owens Geoffrey Palmer Victor Pemberton Courtney Pine Nigel Plaskitt Hugh Quarshie Shane Rimmer Eric Roberts Michael Robbins Ricco Ross Deep Roy Cyril Shaps Hugh Spight Elizabeth Spriggs Gordon Sterne Zoë Wanamaker Richard Wilson