The earliest forms of banking simply involved people paying vault owners to keep their gold safe. Therefore we can definitely say people had negative interest rates then. Could we end up having negative interest rates again? Yes, if depositors accept it. The main risk is represented by the fact that as explained by the fractional reserve banking, most of the money in existence is simply created by commercial banks. Therefore, if even one out of four people decide to take their deposits out by requesting physical cash, the banking system would collapse. This much is certain. There is definitely a limit as to how much you can charge people to keep their money safe as practically nobody would accept something like -30%.
At the end of the day, it's all about fine balancing act. If the interest rate is only -0.1% or so, most people won't take their money out. If it is lowered to -1%, perhaps let's say 5% of the depositors would take their money out and banks would start to suffer. If it gets lowered to -2%, maybe 10% want to leave and a lot of banks would become insolvent. A -3%, perhaps 15% or 20% would want out and that would be more than the system can handle. These numbers are just examples and the conclusion is simple. Yes, the entire banking system very well revert to negative interest rates, but it would be a lot more dangerous than in the early days of banking.