Nope, the break at Gibraltar took place around 5 million years ago, if memory serves. Ah, it sez here, 5.5 myr. Since then, no solid connection, but I think there’s a topic around here (two years ago?) about navigation from Africa to Europe 100s of 1000s of years ago. Flores island in SE Asia hasn’t been connected to any mainland in human times, yet 800,000 year old tools were found there.
a little info, mostly about the Black Sea flood:
http://www.sciam.com/article.cfm?id=noahs-flood
http://en.wikipedia.org/wiki/Messinian_Salinity_Crisis
“...But the Strait of Gibraltar is 320 m deep, and global sea levels during the most recent Ice Age are believed to have lowered sea levels by only about 100 m, so the basin was not dry during the Ice Age. That there had been an extreme drying event in the region earlier, was to be discovered forty years later.”