A bra was an item of clothing.
Peri Brown wore a ruby bra when she went swimming. (TV: Planet of Fire) on another occasion while the Sixth Doctor was fishing Peri removed her shirt revealing that she was wearing a colourful shiny bra underneath. (TV: The Two Doctors)
Amy Pond wore one under her nightie. (TV: The Beast Below [+]Steven Moffat, Doctor Who series 5 (BBC One, 2010).)
Along with women's underwear, bras were sold in a "ladieswear" section in shops. Craig Owens questioned Kelly about a "metal rat" in the ladieswear section, leaning on a rack of bras. (TV: Closing Time [+]Gareth Roberts, Doctor Who series 6 (BBC One, 2011).)
Sally Morgan kept sports bras in her room in the Black TARDIS, which she used as proof that it was definitely her room and not Hex's. (AUDIO: Black and White)
While possessing the body of Rose Tyler, the Lady Cassandra kept a special knockout perfume concealed in Rose's bra. (TV: New Earth [+]Russell T Davies, Doctor Who series 2 (BBC One, 2006).)
In 2007, an edition of the magazine Peach featured celebrity children's television presenter Sadie, wearing only a bra, on the front page. The issue included an article about her "confessing" that "I'm no angel." (TV: Out of Time)
During the meteor strike that hit the Starship Harmony and Redemption, the Twelfth Doctor and River Song fell through a floor. A minute later, a diamond that River had been about to sell also fell. Instead of catching it with her hands, she decided to catch and keep it in her bra. (TV: The Husbands of River Song [+]Steven Moffat, Doctor Who Christmas Special 2015 (BBC One, 2015).)