There sure is! On the Settings > Hotkeys tab, set a key combination on the "Show Quick History Menu" hotkey. When you press that key combo, the history will popup. You can navigate it with the arrow keys and select an item with the Enter key. Alternatively, you can keep holding your modifier keys, and then each press of the keyboard key will move down one entry. For example, I use Ctrl + Shift + V for the key combo. If I press Ctrl + Shift + V, keep holding Ctrl + Shift, and tap the V key, each time, it will move down one entry. When I let it go, it will automatically paste the selected item.
Hope that helps!