Barbarella was a French adult comic book created by Jean-Claude Forest which tells the story of Barbarella, a young woman who has many adventures, often including sex, as she travels around the galaxy.
The Doctor jokingly called Rose Tyler "Barbarella" when she was going to go out in 1869 and cause a stir because of the way she was dressed. (DW: The Unquiet Dead)
Following her death from eating a kaled mutant, Iris Wildthyme, a renegade Time Lady, regenerated into a Barbarella-like incarnation. She encountered The Doctor in this form in The Obverse. (EDA: The Blue Angel)