Yes, for one, the only known descendants of Henry IV still alive today is through his son Humphrey of Glouchester's legitimized bastard daughter Antigone Plantagenet. Interestingly enough her son fought on the Yorkist side during the War of the Roses.

If you count the house of Beaufort, which was an branch of the Lancasters through a legitimized bastard son of John of Gaunt, then all British monarchs have Lancaster blood in them ever since Henry Tudor. Because Margaret Beaufort (a great grand daughter of John of Gaunt) was the mother of Henry Tudor, despite the extinction of the legitimate male line of the Beauforts after their death in the war of the roses.