What is & what is not considered swearing varies widely, so there cannot be a definitive answer to this. The following examples may be regarded as swearing by some people but not by all:
In "The Satan Pit", Rose told Toby to "Go to Hell" when she shot the windscreen out.
In "Smith and Jones", Martha said "We're on the bloody moon!"
The Doctor called Gallifrey Hell in "The End of Time" Pt. 2 saying that "Hell (Gallifrey) is Decending!"
In "The Eleventh Hour" (fish custard scene), the Doctor, having commented on her fearlessness, remarks to 7-year-old Amelia Pond, "Must be a hell of a scary crack in your wall."
In one of the New Series Adventures novels, the Doctor explains to Rose that anything stronger would be censored by the TARDIS translation circuits (after the TARDIS does some obvious censoring of an angry cavewoman).
In "A Good Man Goes to War", the Doctor, on the arrival of River Song, shouts 'Where the hell were you!'