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Going just by the television show, it would seem to be the case.

However in the spin-off media(books and audios) Iris Wildthyme's TARDIS is the same size inside that you would expect if you looked at it from the outside. Also, episodes such as "Father's Day" have shown circumstances where the interior of a TARDIS is not dimensionally transcendental, usually due to outside influences. The fact that the interior layout of the TARDIS can be changed ("Logopolis", and any episode in which a new console room is introduced) suggest the operator can also influence how much "bigger" a TARDIS can be on the inside.