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No. Even allowing for the uncertainty about who counts as a companion, there have been several undoubted companions who were not human. K9 ("metal dog"), introduced in "The Invisible Enemy", is the most obvious but there have also been:

And that just takes into account TV companions: in the comics, novels, and audios the Doctor has travelled with a number of other characters from different races and species:

And of course "The Doctor's Wife" confirmed that the TARDIS is a sentient creature who has been the Doctor's faithful companion for centuries, introduced in either "An Unearthly Child" or "The Pilot Episode", depending on your viewpoint.