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Yes, this has happened multiple times. In "Time and the Rani", Sylvester McCoy briefly played the Sixth Doctor as he regenerated & then went on to play the Seventh Doctor. Also, Paul McGann played the body of the War Doctor in "The Night of the Doctor" (with John Hurt voicing him and stock footage of a young John Hurt representing his face), and David Tennant has played no less than three Doctors; the first Tenth, the 'other' Tenth (he regenerated but looked the same), and 'MetaTen', the half-human clone created by said regeneration.