Yes, he did. The fact that he is so upset about his mother's marrying his uncle so quickly is one indication that he loved his father. He feels completely insulted for his father's sake; the fact that she forgot him so quickly seems to indicate that he wasn't worth remembering, and Hamlet is completely disgusted by that.
Also, in the beginning of the play, he calls his father "so excellent a king", compares him to "Hercules", and states that "He was a man, take him for allin all, I shall not look upon his like again." (I.ii.139-188). All of these quotes seem to indicate that he thought very highly of him; he was excellent, like a god, and there will never be another man like him.
Consider also the great lengths that Hamlet went to in order to exact revenge on his father's behalf, to redeem his reputation and kingdom. The entire play itself is a testament of Hamlet's love for his father; if he didn't care, he wouldn't have strived so mightily to exact revenge just because his father's ghost told him to. That is probably the most powerful indicator of Hamlet's love for his father.
One of the very first things we learn from Hamlet in Act I Scene II is that he is not happy about his mother marrying his uncle so closely after his father’s death. This is one of the well known conversations that Hamlet has with his mother about his grief at his father’s death.
“Seems, madam? Nay, it is. I know not seems.
suspiration of forced breath,
havior of the visage,
Together with all forms, modes, shapes of grief,(85)
That can denote me truly. These indeed seem,
For they are actions that a man might play;
But I have that within which passeth show,
These but the trappings and the suits of woe.”
Then in the same Act I and Scene V Hamlet is visited by the ghost of his late father and it is reveled to him that the King was poisoned by his brother and that he wants Hamlet, as his son, to seek revenge for his murder. It is in this scene that Hamlet first promises his father that he will indeed avenge his death.
one simple answer shall answer this question. when king hamlet orders hamlet to get revenge for him; after ghost exits hamlet gives a speech that he is going to forget all books, all trival memory, experiences and the ghosts words are the only text in the book and volume of his brain. this alone proves hamlet really do love his father and ones unique personality is all of ones value; he is more then willing to give himself up inorder to avenge king hamlet.