Yes, this happened.

In 2001, when its NEAR Shoemaker space probe landed on asteroid 433 Eros, NASA received a $20 parking ticket from Gregory W. Nemitz, who had claimed ownership of the asteroid 11 months earlier.

Spoiler alert: Nemitz took this to court, where it was finally dismissed in 2005.

Text from Futility Closet. Read more here. Image via wikipedia.