From "The Next Doctor":
LAKE: Well, I'd say he used that Dimension vault to transfer the wreckage of the CyberKing into the Time Vortex, there to be harmlessly disintegrated. Oh, I've picked up a lot. Ah, but here. Ladies and gentlemen, I know that man, that Doctor on high. And I know that he has done this deed a thousand times. But not once. No, sir, not once, not ever, has he ever been thanked. But no more. For I say to you, on this Christmas morn, bravo, sir! Bravo! Bravo! Bravo, sir!
(Up in the sky, the Doctor hears the cheers and applause, and waves back, ringing the basket's bell.)
LAKE: Bravo, Doctor.
I suspect this statement is not 100% accurate, but oddly enough I can't actually think of a counterexample. Is there one?
I'm excluding times when he's thanked by a specific person, or for saving a specific person; this is about being thanked by a large number of nameless people who probably would've died (or worse) without him.