Cleopatra was the Queen of Egypt in William Shakespeare's play Antony and Cleopatra. One of her lovers was the Roman general and statesman Julius Caesar.
When Captain James Kirk was giving Lenore Karidian a tour of the USS Enterprise, as they were getting to know each other, she said, "The Caesar of the stars and Cleopatra to worship him." (TOS: "The Conscience of the King")
This character was only mentioned in dialogue.
In the script of TOS: "The Paradise Syndrome" Miramanee was described as "a copper-skinned, high-breasted Cleopatra with long gleaming black hair and the dignity of a maiden born to be a queen."