There certainly have been. The first we saw was a Time Lord disguised as a monk in "The Time Meddler" & we've seen others, too. The Master had one in the classic series (see "Terror of the Autons", for example) & the Doctor told Kate Stewart in "Death in Heaven" that he thinks Missy (female incarnation of the Master) has one. The Rani had one in "The Mark of the Rani" & "Time and the Rani". This is very far from being a complete list. See Specific TARDISes for information on others.