Yes, it happened the 2 october 2014 in a [Europa League game](https://en.wikipedia.org/wiki/2014%E2%80%9315_UEFA_Europa_League_group_stage#Feyenoord_v_Standard_Li%C3%A8ge) between Feyenoord and Standard Liege (2-1).

> It was officially credited to defender Sven van Beek (wearing 22), but it looked as though it was scored directly from the throw by Miquel Nelom.

It seems the referee judged that the ball touched someone, even it didn't.

[Source](https://www.dailymail.co.uk/sport/football/article-2779295/Feyenoord-score-incredible-goal-straight-throw-against-Standard-Liege.html).