I have been taking care of my Dad since my mom passed and he retired. Is there any compensation for that?

Your dad can pay you.
You should have a Caregiver Contract drawn up. Is he able to sign legal papers? If not you might be out of luck.
If your dad is a Veteran the VA might have programs where you can get paid to care for him.
If he is a Veteran contact your local Veterans Assistance Commission and they can help determine if he qualifies for help.

What kind of care is your father requiring of you?
There can be compensation if Dad wishes to pay you.

Kris
Your dad should be paying his own way in life. You can draw up a care contract for the both of you to sign to avoid the appearance of him gifting you.
If you are asking if there is a government subsidy available for caring for a senior the answer is sometimes. It would depend on his income/expenses and physical condition and the guidelines in your area. The compensation would be minimal. Is your dad a vet? Sometimes there is comp for war time vets. Contact the area agency on aging for your county and ask they do a needs assessment to determine dads physical limitations and discuss his income. They should be able to help you identify what resources are available for dad.
They sometimes have services available for caregivers and elders that might help as well.