Absolutely. Taking just the British Isles, we have:

1. The Wars of the Roses. Take your pick of who is the pretender here, but the whole war was about which competing noble should be king. Since both parties had their guy on the throne at various times, and were suppressed at other times, you can take your choice of whether it succeeded.
2. The Glorious Revolution, which chucked out James VII-and-II and installed William of Nassau on the throne. Put that one down in the 'success' column.
3. The Jacobite Risings, 1715 and 1745, when James and his son Charles tried to get the throne back. This is where we get the word 'pretender'; William's wife Anne referred to James, at some point, as "the man who pretends to our throne", and he became known as the "Old Pretender", and Charles was the "Young Pretender". (Although he lost the war he had a much better propaganda department than his father and his now better known as the "Bonnie Prince"). Both risings failed.

That's just in the Isles and more-or-less the EU period; somewhere between four and eight attempts, depending on how you count the Wars of the Roses, and at least two successful.