Yes — on Google Play
Google Authenticator has a Google Play listing.
App Store
On Google Play
Is Google Authenticator on Android?
About Google Authenticator
Google Authenticator adds an extra layer of security to your online accounts by adding a second step of verification when you sign in. This means that in addition to your password, you'll also need to enter a code that is generated by the Google Authenticator app on your phone. The verification code can be generated …
Google Authenticator is listed on both the App Store and Google Play from Google, so you can install it on Android phones and tablets. The Play Store listing shows 10,000,000+ installs.