You are most certainly lacking the add-on package vlan:
ifupdown integration for vlan configuration
This package contains integration scripts for configuring vlan
interfaces via ifupdown (/etc/network/interfaces). For further details
see vlan-interfaces(5) man page in this package.
It also suggests that its VLAN support is limited and one should use one's own iproute2 commands anyway.
Without this add-on package, vlan-raw-device is not a valid command, while interfaces(5) still documents direct support for the interface.VID scheme.
Historically the main use of this package was to provide the vconfig command: it's still provided, but this command has been entirely replaced by ip link commands in the add-on scripts. Now, its main use is to provide the additional VLAN-related commands for ifupdown. About the same goes with the package bridge-utils: not really for its obsolete (but strangely still widely in use) brctl command but for its ifupdown configuration add-on, which still does rely on brctl though.
There is also a complete reimplementation available with the ifupdown2 package which doesn't rely on any obsolete command nor add-on and is mostly (but not completely) compatible, and there might possibly be in the future a new Debian implementation called ifupdown-ng.