Hell

Hell was believed by some cultures to be the place of punishment after death for those who had sinned in life.

Concept

Hell was embedded in the minds of species like humans through religions like Christianity, the opposite afterlife being Heaven. The Doctor claimed there was no such place as Hell, but he probably spoke in terms of the popular concept of Hell. (BFA: Gods and Monsters)

Some people called the Void Hell. (DW: Army of Ghosts) Hell was also a part of Gallifreyan mythology. (BFA: Minuet in Hell)

Perception

Hell was often used to describe greatly uncomfortable situations. Morbius described his deteriorated state as hell (DW: The Brain of Morbius) as the Doctor would later describe the Last Great Time War as hell. (DW: The End of Time)

Real Hell

While it was also a concept, Hell was also a plane of existence or universe somewhere in reality that had a fiery geometry. The Scourge lived here and tortured the humans of their universe. (BFA: The Shadow of the Scourge)

Based on their statement, the Scourge either brought their victims to Hell, or there may be humans living in Hell.

Jason Kane spent several years in Hell, described as predominantly rock where tunnelling craft tunnelled their way between bubbles of places which weren't rock, which would in theory be the equivalent of planets. This may have been the Infernal Regions, however, which is probably where the idea of Hell came from. (BFBS: The Infernal Nexus)