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Yes. In "The Adventuress of Henrietta Street" (BBC Eighth Doctor Adventures novel), the Eighth Doctor married the human woman Scarlette. In "The Day of the Doctor", the Tenth Doctor married Queen Elizabeth I of England. In "The Wedding of River Song", he married River, who was of human ancestry, although she also had some Time Lord characteristics because of the circumstances of her conception[1].

  1. See How can River Song regenerate if both her parents are both human? for an explanation of this.