Yes. The Doctor's TARDIS is a Type 40, which was obsolete by the time he stole it. On several occasions, when he returned to Gallifrey, technicians & others expressed surprise that a Type 40 was still operational.
The Type 1 TARDIS is referred to in "Heart of TARDIS" (novel).
The TARDIS (disguised as his college rooms) used by Professor Chronotis was identified as a Type 12 in "Shada" (novelisation).
Various other types have appeared or been mentioned in other stories. The highest type number mentioned in a story (as of December 2017) is a Type 103 in "Alien Bodies" (novel).
For further detail, see TARDIS Types.