Yes, Voldemort has used the Cruciatus Curse twice on Harry. The first time he used this curse on Harry was when he returned after a long period of exile from his bodily form in the Little Hangleton graveyard where his father was buried. The second time he used this curse on Harry was when Harry was considered to be dead. This was to insult Harry's legacy. However, this curse did nothing to Harry as it was cast by the Elder Wand, whose allegiance lay on Harry at that time.