http://www.domaintools.com/research/whois-history/ http://www.domaintools.com/research/whois-history/ looks like what you want, but it looks like a sign up is r

http://www.domaintools.com/research/whois-history/ http://www.domaintools.com/research/whois-history/ looks like what you want, but it looks like a sign up is required, but there is a free 7 day trial. Are you looking for something totally free?