Yes, the Catholic Church condemns doctrinal universalism.
Hell is not empty, and this is Scriptural, for example Luke 16:19 ff.:
19 There was a certain rich man, who was clothed in purple and fine
linen; and feasted sumptuously every day.
20 And there was a certain beggar, named Lazarus, who lay at his gate,
full of sores,
21 Desiring to be filled with the crumbs that fell from the rich man's
table, and no one did give him; moreover the dogs came, and licked his
22 And it came to pass, that the beggar died, and was carried by the
angels into Abraham's bosom. And the rich man also died: and he was
buried in hell.
23 And lifting up his eyes when he was in torments, he saw Abraham
afar off, and Lazarus in his bosom:
24 And he cried, and said: Father Abraham, have mercy on me, and send
Lazarus, that he may dip the tip of his finger in water, to cool my
tongue: for I am tormented in this flame.
25 And Abraham said to him: Son, remember that thou didst receive good
things in thy lifetime, and likewise Lazareth evil things, but now he
is comforted; and thou art tormented.
26 And besides all this, between us and you, there is fixed a great
chaos: so that they who would pass from hence to you, cannot, nor from
thence come hither.
27 And he said: Then, father, I beseech thee, that thou wouldst send
him to my father's house, for I have five brethren,
28 That he may testify unto them, lest they also come into this place
29 And Abraham said to him: They have Moses and the prophets; let them
30 But he said: No, father Abraham: but if one went to them from the
dead, they will do penance.
31 And he said to him: If they hear not Moses and the prophets,
neither will they believe, if one rise again from the dead.
v. 22 makes it clear that hell contains at least this rich man (so hell is not empty).
v. 26 makes it clear that once you are in hell, you are there for all eternity (so this rich man is still there, and thus hell is still not empty).
See the interpretation of the Fathers of the Church in Catena Aurea on St. Luke's Gospel ch. 16, lectio 5.
Fr. John A. Hardon, SJ, writes in his A Modern Catholic Dictionary
(1980) on p. 553:
UNIVERSALISM, DOCTRINAL. The theory that hell is essentially a kind of purgatory in which sins are expiated, so that eventually
everyone will be saved. Also called apokatastasis, it was condemned by
the Church in A.D. 543, against the Origenists, who claimed that "the
punishment of devils and wicked men is temporary and will eventually
cease, that is to say, that devils or the ungodly will be completely
restored to their original state" (Denzinger 411 ["211
Can. 9 Si quis dicit aut sentit, ad tempus esse daemonum et impiorum
hominum supplicium, eiusque finem aliquando futurum, sive
restitutionem et redintegrationem esse (fore) daemonum aut impiorum
hominum, an. s."]).
Also, Pius II condemned, in the letter Cum sicut of Nov. 14, 1459, "That all Christians are to be saved." ["Et omnes Christianos salvandos esse."]