Yes. In "The Two Doctors", Peri and the Doctor got bored fishing before the main adventure began, and in "The Leisure Hive", the Doctor and Romana get bored from vacationing on a beach also before the main adventure begins.
It's probably happened many times besides that. We've seen the TARDIS crew talking about visits that we didn't see. Remember, the Doctor is 911 years old, and we've only seen a few hundreds hours of that 911 years, and it makes sense that we'd see the most exciting times rather than the dull ones. The IDW comic book series, for example, begins one adventure in the midst of an ongoing quest by the Doctor and Martha Jones to find the perfect milkshake; not exactly scintillating action-adventure viewing, hence their quest eventually is interrupted.
On the other hand, Rory (and before him, Anji, in the novels) has commented on the fact that whenever they go somewhere, there's always a crisis happening or about to happen. That's probably a bit of an exaggeration, but it does mean that the Doctor does run into trouble more than you'd think is statistically likely if he were just hopping about randomly.
Blame the TARDIS. The Doctor: "You didn't always take me where I wanted to go." The TARDIS (in the body of Idris): "No, but I always took you where you needed to go." ("The Doctor's Wife")
As established in that episode, when the Doctor stole the TARDIS and left Gallifrey, he was looking for adventure -- and so was the TARDIS!