A complete and comprehensive service to recover DNS history data for a certain domain does not exist: there's no global repository of this data anywhere in the Internet, and almost always neither providers o registries record this historical data.
There're however a number of tools available (both free and premium) that may be useful for this task; every single service relies on its own archives, so it's no granted you'll recover the data you're querying for, and maybe you'll get them from a service but not from another... the only way is to try.
On line service you can try:
Complete DNS (free)
DNS History (free)
Domain Tools (Premium)
SecurityTrails (free)
Spyse (free)
WhoISrequest (free)
Whoxy (free)