No there has never been a female pope. In the Catholic Church, women can't be ordained which means that they can't serve as priests and therefore can't work their way up to becoming pope.

There was a story of 'Pope Joan' which appears to have been started in the Middle Ages. The story was that a woman had disguised herself as a man and been ordained as a priest, eventually becoming pope. She was supposedly only found out when she became pregnant. However, there is no evidence that 'Pope Joan' ever really existed and modern scholars have dismissed the story.