Lipstick was an item used on Earth by (predominantly) females as a cosmetic item applied to the lips. (TV: The Visitation) It was occasionally used to write messages with in lieu of other writing materials. (TV: The Girl Who Waited)
Some lipstick, such as that owned by River Song was impregnated with poison or hallucinogenic substances. (TV: Let's Kill Hitler, The Time of Angels, The Pandorica Opens)
Bernice Summerfield wore black lipstick when she was performing lead vocals for Plasticine. (PROSE: No Future) Madelaine Worth, a Goth, wore black lipstick. (PROSE: Goth Opera) Ereshkigal Violaine wore black lipstick. (PROSE: Dry Pilgrimage)
Lipstick lookalikes
Sarah Jane Smith carried a device called sonic lipstick. It was essentially a sonic screwdriver disguised as a stick of lipstick, and was a gift from the Tenth Doctor. (TV: Invasion of the Bane, et al.) She had at least two. (TV: Enemy of the Bane)