There is the flip-flop option, which I have shown below - the FF is half of a 4013 (dual D-type FF).
Alternatively, you may be able to use a "latching" relay. They're not very common, but are sometimes useful, if you can get hold of one. The relay is mechanically configured, so that it changes state when the coil is energised, and holds that state after power is removed from the coil. When you energise it again, it switches to the other state (and holds it). You can drive it directly from your signal (if it can supply the current) or via a transistor.
NB For the latching relay to operate correctly, the signal pulse needs to be fairly long - at least 100mS, maybe more - check the specs of the relay.