Only to a limited degree. Yes, there were soaps and other serials that had long-running narrative arcs, but not with the kind of sophistication contemporary writers are using.
Let's call it the 'Post-Buffy' school of thought, where character nuance, motivation, back-story, plot and sub-plot are all delivered with a kind of attention to detail formerly only used by novelists. There may be a few examples from the 60's -- The Prisoner comes to mind -- but even that can't really touch the narrative layers we've seen in the last decade: The Wire, Lost, Mad Men, Breaking Bad, Battlestar Galactica, Game of Thrones (TV as novel if there ever was one), Six Feet Under, Dexter, Band of Brothers, and so forth. These aren't just books, they're novels.
This I think is partially the result of the ability of viewers to sit down and spend concentrated time with a series when they come out on DVD. The first time my wife and I did this was maybe 10 years ago with Buffy and Angel, and it was the most fun I'd ever had with television. This was a new experience. We'd lose 4 or 5 hours late on a Friday just chaining one after another, like the Battlestar Galactica skit on Portlandia.
What I think Netflix is doing, and probably what it has massive amounts of data to back up (I watched Buffy through Netflix, come to think of it), is that this new type of viewer engagement -- long sessions of series "gorging" -- has completely transformed the way we experience television. I think this is why they released the House of Cards episodes all at once. This is also probably why they're not releasing viewing numbers -- the new experience context of contemporary viewers has very little to do with the old Nielsen ratings arc, and would be a poor measure of the show's success, from Netflix' own point of view.