Trivially, you could just have the field be uniform in a finite region around the dipole and not uniform elsewhere, so that the electric field as a whole technically isn't uniform, but this might not be the spirit of the question you're asking. Fortunately, you can just as easily construct situations in which:
- the electric field is non-uniform and smooth, and
- there is at least one point where an electric dipole will simultaneously experience no torque and no force.
The torque $\vec{\tau}$ on the dipole is given by:
$$\vec{\tau}=\vec{p}\times\vec{E}$$
where $\vec{p}$ is the electric dipole moment vector. Likewise, the force $\vec{F}$ on the dipole is given by:
$$\vec{F}=\vec{p}\cdot\nabla\vec{E}$$
To enforce zero torque, we need only require that $\vec{p}$ and $\vec{E}$ are parallel at the position of the dipole.
For simplicity's sake, let's say that $\vec{E}$ points in the same direction everywhere, and that $\vec{p}$ is parallel to it. Let's call that direction the $\hat{x}$ direction. In other words, let's say that $\vec{E}=E(\vec{r})\hat{x}$ and $\vec{p}=p\hat{x}$. Then we have that
$$\vec{\tau}=0$$
by construction, and
$$\vec{F}=p\frac{\partial E(\vec{r})}{\partial x}$$
by virtue of everything pointing in the same direction. Wherever $\frac{\partial E(\vec{r})}{\partial x}=0$, a dipole will experience both zero force and zero torque.
For example, the field given by $\vec{E}(\vec{r})=kx^3\hat{x}$ has $\frac{\partial E}{\partial x}=3kx^2$, so a dipole will experience no force and no torque when $x=0$.
