In this work we firstly prove the well-posedness of the non-linear martingale problem related to a McKean-Vlasov stochastic differential equation with singular interaction kernel in $\mathbb{R}^d$ for $d\geq 3$. The particularity of our setting is that the McKean-Vlasov process we study interacts at each time with all its past time marginal laws by means of a singular space-time kernel. Secondly, we prove that our stochastic process is a probabilistic interpretation for the parabolic-parabolic Keller-Segel system in $\mathbb{R}^d$. We thus obtain a well-posedness result to the latter under explicit smallness condition on the parameters of the model.