Yes. In 711 CE, the Umayyad Caliphate's forces (mostly Berbers with Arab leadership) crossed the Strait of Gibraltar and rapidly conquered most of the Iberian Peninsula. The region they controlled—Al-Andalus—included southern Spain (Andalusia) for nearly 800 years.
Profound influence on Spanish language (4,000+ Arabic loanwords), architecture (Alhambra), agriculture (irrigation, citrus, rice), music, and intellectual transmission to medieval Europe.