Yes,
Tesla rolled out their "Premium Connectivity" plan a few months back.
Standard: Free forever, provides basic maps and navigation over cellular and that's it. No streaming music, updates only over Wi-Fi.
Premium: Free for the first year, expected to cost $100/year (free forever for cars ordered before July 2018), includes satellite maps, streaming music, cellular browser, cellular updates — everything the cars do today.
The cars are currently on AT&T and I do not expect that to change.