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".
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