Yes, and from what I've read, that's where the game that eventually became Skyrim began. According to Skyrim's executive director, Todd Howard, "People in our studio liked [A Song of Ice and Fire], and it seeped in a bit to what we were doing."
I'd say it seeped in more than just a bit. It's hard to believe that the similarities between Skyrim and A Song of Ice and Fire are coincidental since Bethesda started developing Skyrim right around the same time they were considering adapting A Song of Ice and Fire.
Skyrim started early development in 2006, after Oblivion and during the Fallout series. The similarities aren't that unique to ASoIAF, and are quite part of fantasy in general. There are a few small things, nothing major. TES is very different to ASoIAF, and if you tried you could probably find some similarities in Fallout New Vegas too.
- Dragons being extinct for a long time and suddenly coming back into existence.
Skyrim isn't the only TES game to have a Dragon, though Dragons returning isn't unique to ASoIAF.
- A messianic figure who has "the blood of the dragon."
That was established in previous games, well before any sort of meeting with GRRM's people.
- A prophecy that a hero will arise to vanquish the evil threatening to end the world.
Kind of the theme for most of TES games, starting in 1994.
- Assassination of a king.
We've had three of those already.
- Debate over the succession of the throne.
There are no heirs, though there have been a few wars for succession in history.
- Civil war.
- Rebellion against the crown/empire.
- Attempted secession of regions of a kingdom/empire.
Roman history.
- A continent split into nine regions, the northernmost being the source of the civil war, political strife, and rebellion in the present day story.
Tamriel's nine regions were created in 1994, prior to ASoIAF's first book. Though my memory of ASoIAF isn't the entire realm in Civil War with Five Kings? Not just the northern part.
- Religious controversy and debate about false gods.
That goes back to Dragonlance and Dungeons & Dragons, even in our own history.
- A magical bloodline's belief of their superiority and right to rule others.
In other words a High Elf? Quite common in fantasy to see High Elves believing themselves superior and others inferior.
- The dead coming back to life with glowing blue eyes.
Draugr are based from Norse myth, the blue eyes could be something they got from GRRM.
- Swords created by gods to purge the unholy with fire.
What fantasy doesn't have those?
- Weapons of a rare and high-quality steel that cannot actually be forged.
Except they can be forged, just not by you. Just like Silver Swords, Dawnguard weapons etc.
- A secret society of assassins, which includes a female child assassin.
The secret society of Assassins came about in Daggerfall, released the same month as GRRM's first novel. Hardly enough time to steal the idea back then.
Female child assassin who is an Easter Egg for Interview with the Vampire. Babette being the name of the protagonist's first love interest. The body of a young girl, is a reference to Claudia, the protagonist's "daughter".
- A barbarian culture's attempts to reclaim what they feel is "their" land.
That is not unique to ASoIAF.
- A creepy and mentally unhinged jester who speaks in riddles.
They probably did steal him, I'll admit. Though he is also an Easter Egg for those who know Roman history, being the name of one of Caesar's assassinators.
You're looking for anything remotely similar, themes and regions. Fantasy is fantasy, and you can see the same themes many times over. Skyrim and Westeros are two completely different worlds who draw from the same sources of inspiration.
As much as I love ASoIAF, which is more than TES. The similarities are merely fantasy in general.