Lead on brave adventurer your quest awaits.
There has been surprisingly little toys made from Dragon's Lair considering how long the game has continued to stay popular. It was just very recently ported to Android.
Here's Mordroc, Singe, Dirk and Daphne by Anjon Toys from 2002. They were released to coincide with the Dragon's Lair 3D game. The figures are beautifully sculpted and came with a large amount of nicely done accessories. They were also well articulated for the time. Singe, for example, has two additional hidden joints in his tail and it's also bendy at the tip. The only problem I have with them is Daphne cannot stand without her coin base.
There was second series planned that would have included The Thorn Lord, Lizard King, Giddy Goons and Dragon Essense Dirk but were never made.
You are a bold and courageous person, afraid of nothing. High on a hill top near your home, there stands a dilapidated old mansion. Some say the place is haunted, but you don't believe in such myths. One dark and stormy night, a light appears in the topmost window in the tower of the old house. You decide to investigate... and you never return...