Yes. After you edit your own posts, you may notice the line indicating the post was edited is a link for you. You can follow that link to see a history of your own edits. For others, that line is not a link...unless that other person is a moderator.

The exception here is edits that happen quickly after a post is initially made. After you make a post, there is short time period (30 seconds? 45? 60?) during which you can edit your post without any indication or record of that edit having been made.

From what people have said in this thread, that's apparently an option vBulletin provides. I haven't run across even a handful of instances where someone edited his or her post here with the goal of revising history, so I don't see a need for public edit histories at this time. If you have examples though, I'm open to changing my mind.