Yes, there has:
In the Iran-Iraq War, Wikipedia:
The war also saw the only confirmed air-to-air helicopter battles in the history of warfare, with Iraqi Mi-25s flying against Iranian AH-1J SeaCobras on numerous occasions. The first instance of these helicopter "dogfights" occurred on the first day of the war (22 September 1980): two Iranian SeaCobras crept up on two Mi-25s and hit them with TOW wire-guided anti-tank missiles. One Mi-25 went down immediately, the other was badly damaged and crashed before reaching base. The Iranians won a similar air battle on 24 April 1981, destroying two Mi-25s without incurring losses themselves. According to unclassified documents, Iranian pilots achieved a 10-to-1 kill ratio over the Iraqi helicopter pilots during these engagements and even engaged Iraqi fixed-wing aircraft.
I don't believe there has been any recorded instance since the Iran-Iraq war, but during that conflict there were multiple instances of helicopter-vs-helicopter battles.