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Yes. One instance which I am familiar with is Barnaby Fitzpatrick, who was the "proxy for correction" for Prince Edward (Henry VIII's son, later Edward VI). This practice makes some sort of sense when you understand that royalty was seen as being gifted from God, and that harming the royal person (or his heir) was treason and punishable by death. Fitzpatrick and Prince Edward were close friends and so the threat of harm to Fitzpatrick would presumably be enough to keep Edward from misbehaving.

Source: Alison Weir, The Children of Henry VIII

How were whipping boys compensated?

And a follow-up question: When was the first written mention of the term whipping boy?

Is there any record of when the practise started?