Dracula

Count Dracula was a fictional vampire created by Bram Stoker, inspired by the historical character of the same name. The Fourth Doctor claimed to have helped Stoker create the character based on his knowledge of real vampires. (AUDIO: The Labyrinth of Buda Castle)

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

Dracula was stationed at Camelot, after Sherlock Holmes died. He was eventually converted into a Cyberman, 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. (AUDIO: Legend of the Cybermen)

Other Draculas
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." (COMIC: The Tides of Time)

The Tenth Doctor and Martha Jones encountered Dracula on a world of fiction created by the books Martha had read throughout her life. The Doctor punched Dracula and exclaimed that he had a very hard face. (PROSE: The Mystery of the Haunted Cottage)

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

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

Maria Jackson thought that there was something spooky about Sarah Jane Smith's house, and that "it had a touch of Dracula's castle". (PROSE: Invasion of the Bane)

Clyde Langer told the following joke about the character: "How did Count Dracula escape from Transylvania? He used a blood vessel." to weaken the Pied Piper by causing laughter. (TV: The Day of the Clown)

When Rani Chandra and Clyde Langer saw the sunny Ashen Hill Manor Clyde said that "Castle Dracula" also might have looked okay on a sunny day. (TV: The Eternity Trap)

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.