Action figures were a type of toy.
When the Twelfth Doctor was in Aberdeen in the 2nd century he mocked Ban and Kar's abilities as warriors by saying "What did you do, throw your action figures at them?". (TV: The Eaters of Light [+]Rona Munro, Doctor Who series 10 (BBC One, 2017).)
In 1989 Tim Curtin had Nessie Burger action figures amongst his toy collection. (PROSE: Business Unusual [+]Gary Russell, BBC Past Doctor Adventures (BBC Books, 1997).)
Whilst in Cydonia, Mars in the 25th century the Fourth Doctor was tempted by Last Martian action figures at a department store, but reached his credit limit before he could afford the play environments New Xanadu (a mansion on the moon Phobos) and the Aelita (an opulent cruise liner). (PROSE: Crimson Dawn [+]Tim Robins, Decalog 2: Lost Property (Virgin Decalogs, 1995).)
In the 42nd century, there were action figures that coincided with the TV show about Iris Wildthyme, such as the Twenty-two fourteen bus playset, which was based off the Celestial Omnibus. (AUDIO: The Iris Wildthyme Appreciation Society)
In one meta-dimension, the seventeen-episode The Iris Wildthyme Show inspired a cult franchise which included action figures. (PROSE: Wildthyme Beyond!)