Has angelic deliverance like the apostles' prison release in Acts 5 happened in church history?
No. There is no account in church history of angels coming down to deliver God's people as they did for the apostles' prison release. That kind of supernatural intervention was experienced by Israel, has not happened since, and will return only when God begins again to deal with Israel.
Les explains that he has always asked this question since reading Sir Robert Anderson's The Silence of God. He says there is not a single account in church history where angels came down and delivered God's people. He clarifies that this does not deny that God is the God of miracles, that He can still answer prayer, or that He can still perform the miraculous. The miracles in view are the kind Israel experienced: angels opening prison doors and controlled earthquakes releasing prisoners in stocks without killing any of them. That supernatural does not happen now, has not happened, and will not happen until God begins once again to deal with the nation of Israel. Then the supernatural will return as a foremost and daily occurrence. The apostles' release is an example: an angel comes in, opens the prison doors, and lets the apostles out.