Did a TV series ever come back after it was taken off?

yes it did, at least once.

it was the show Family Guy (by fox) which first showed at 1999. it was then canceled at 2000, renewed, canceled again in 2002. and then, after strong DVD sales and many viewers at reruns, Fox decided to renew it at 2005. it is still running.

the catch - it's a cartoon (like the Simpsons). 

you can read all about it here. 

a flash and blood show which got a second chance, but as a movie, was "Firefly" (again fox) by the maker of "buffy the vampire slayer. it was canceled just after 14 episodes. but again, strong DVD sales and great fan support caused it to be make into a film called "Serenity".

There are hundreds of examples... well, kinda. You see, there are many shows that are made, turn into a big hit, lose their steam or for some other reason get canceled, and then come back in the form of a remake. The Outer Limits and Battlestar Galactica are two examples I can think of.

yes there's a chance for it to come back...there's a lot of television series just did come back...some of them are peek up by other channels or came back because of the request of a lot of its supporters...

Jericho, on CBS, was canceled after its first season (the 2006-2007 season). Supporters of the show were so upset, they banded together to send nuts, specifically peanuts, to the show's producers. Because of the apparently wide fanbase, the network reversed its decision and OKed another half season (twelve episodes) and, if that goes well, the completion of the second season after that.

I don't know anything about The OC, but don't count it completely gone. And don't just sit on your hands.

There is possibility, mostly if the viewers request for that series comeback.  I was waiting for a certain

Sliders was a show that got cancelled (again by fox i think) The Sci-Fi channel picked it up for a season or two.