Yes, there have been supernovae that were visible to the naked eye from Earth throughout history. One famous example is the supernova known as SN 1006, which occurred in the year 1006 AD. It was widely observed by various civilizations around the world, and it was recorded in historical records and depicted in ancient astronomical manuscripts.
Another well-known example is the supernova of 1572, often referred to as "Tycho's Supernova" after the Danish astronomer Tycho Brahe, who extensively studied it. It was one of the brightest supernovae ever recorded and could be seen during the daytime for several weeks.
Additionally, the famous supernova remnant known as the Crab Nebula, located in the constellation Taurus, is the result of a supernova explosion that was observed and recorded by Chinese astronomers in the year 1054. The explosion was so bright that it remained visible during daylight for a period of time.
These are just a few examples of supernovae that were visible to the naked eye without the need for telescopic observation. Throughout history, there have been other supernovae that have been visible from Earth without the aid of telescopes, although they may not have been as well-documented due to the limitations of historical records.