We think so. On June 25, 1175, 5 English monks reported in the chronicle of Gervase of Canterbury: "During a bright new Moon, the horns were tilted towards the east. Suddenly, the upper horn split in two. From the midpoint of the division, a flaming torch sprang up, spewing out fire and hot coals and sparks"
As described by Carl Sagan in his book Cosmos page 85, astronomers have reconstructed the Moon's appearance and orientation for that date, and pinpointed the sector on the lunar surface where the event could have occurred. Sure enough, there is a young, rayed crater there which was named Bruno after Giordano Bruno. This is our best example today that major impacts can occur within recorded human history. The recent impact of Comet Shoemaker-Levi with Jupiter also supports the idea that major events like this are not rare, confined to the distant past.