Yes I have, many times. Incredibly painful, the kind of pain that makes you swear a blue streak or turn purple from trying not to. I don't usually wear shoes indoors so my toes aren't protected, and it's always the baby toe that gets smashed. Why must the little ones always get the worst abuse?
One time I accidentally hit my baby toe against my stationary bike and it was painful for several days at least. I was told it was possible I'd broken it although it must have been a minor crack that healed on its own. Ow... 
Actually that happened a lot back in my old apartment which was a lot smaller and I had less room to move around things. But it still happens sometimes.