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 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).