Now that I think more about it, it's probably Death's Head visiting the doctor's universe and not the other way around. Primarily because the doctor doesn't really travel across dimensions intentionally.

From what I've read, Death's head was originally created in a Transformers comic, as a bounty hunter of sorts. But the creators made a comic of his own to prevent Hasbro from gaining the rights to the characters. And from then on he found his way to other continuities.

It's really hard to place how DH fits in Marvel's continuity since he's probably the Marvel equivalent to Lobo. He's been in a universe where all the marvel heroes died in the hands of Baron Von Strucker and he's had a total of two run ins with the timelord (one was an accident during his giant transformer days, and the other when he was normal sized and went after a bounty placed on the doctor's head)