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Yes. Although he never got a chance to say it directly, he came close to it in "Doomsday" and his ongoing pining over her loss in the season that followed was further indication. His clone, in "Journey's End", appears to whisper something along this lines into Rose's ear but we do not hear - we just see her kiss him in reaction. The actors and writer later confirmed that the Meta-Crisis Doctor did say "I love you" to her but it should be noted that his mind at that moment is actually that of the newly regenerated Tenth Doctor from "The Christmas Invasion" meaning the feelings more accurately belong to the Ninth Doctor.