It has! And I'd advise against starting right at the start, because...crikey! You'd be here for years. Doctor Who owes its longevity, in part, to a format that isn't tied to a single cast. The leading man, leading lady - everyone can be and is replaced, thrives on change. Had 26 series between 1963 and 1989, rested for a bit, and started a new run in 2005.
The latest "everything brand new" change of the guard was at the top of series five of the new run, an episode called "The Eleventh Hour" - which is also a one-stop Doctor Who FAQ. You can watch that and continue onwards without needing any prior knowledge, you'll get it all at the top of the hour, it was designed to appeal to new viewers. You could do the same starting with series one, if you wanted, and many would recommend that above all, but I think S5 is the better crash-course. More recent, more relevant. S1's a great place to start, too, if a little more dated now that it's almost a decade old, but none of it's required reading - you could even start with the current series, if you wanted, just as hefdaddy did a few days ago. Heck, series five episode six was designed as an episode new viewers could happily latch onto.
S5E1 is the best, though, followed by S1E1. The Eleventh Hour is the first ep with the latest Doctor, Rose is the first ep of "modern Doctor Who." Have at it!