The Disney Store has made Classic dolls for: Queen Grimhilde (The Queen from Snow White), Maleficent, Ursula, Gaston, Jafar, and Mother Gothel. From the deluxe doll sets for Cinderella and The Little Mermaid, the Disney Store also made limited release dolls for Lady Tremaine, Anastasia, Drizella, and Vanessa (Ursula's human disguise). The Tremaines, Vanessa, Gaston, and Jafar are now currently not available and it is unknown if they will return for re-releases.
Mattel's Great Villains collection from the late 1990s, as mentioned by Matthewlondon are still among the most film-accurate doll versions of the animated versions of Maleficent, Queen Grimhilde (The Queen), and Ursula. This series also made two dolls based on the live-action version of 101 Dalmatians' Cruella de Vil (the Glenn Close version), which I do not like at all, though they really look like Glenn Close. I am a huge fan of the animated version of Cruella de Vil as designed by legendary animator Marc Davis.
The Disney Parks released a series of Disney Villain dolls that included: Queen Grimhilde (The Queen), Maleficent, Cruella de Vil, Captain Hook, and Jafar. The Jafar doll from this series is fantastic, and the best doll version of him to date. The Cruella de Vil doll is far better than the Mattel Glenn Close versions from the Great Villains collection, but still could have been designed a tad bit better. If you have the option between these versions of Queen Grimhilde and Maleficent and the Great Villains versions, get the Great Villains versions.
I have not seen the new Mattel dolls for Queen Grimhilde or Ursula yet, but their faces do look better than the Disney Store Classic dolls.