The concept of RAII has emerged gradually and it would be hard to pinpoint a moment for its appearance. I am not aware of any specific feature of RAII that has appeared in Common Lisp before other languages.
The concepts of constructors and destructors have been introduced by C.A.R. Hoare in November 1965, in "Record Handling", a proposal for the extension of Algol.
At that time, Hoare was using the Cobol terms, i.e. "record" for what later was named "object" and "record class" for what later, in Simula 67, was abbreviated to "class". All the "records" discussed by Hoare were allocated dynamically, in the heap.
Constructor (Hoare, 1965-11): "In order to bring records into existence in the first place, the record class identifier should be used as if it were a function designator"
Destructor (Hoare, 1965-11): "a standard procedure "destroy" is proposed, which takes as parameter a reference to a record, and which reverses the effect of having created that record"
The next step towards RAII has been done by Bjarne Stroustrup in "C with Classes" in April 1980, when he made the invocation of the destructors implicit at the exit from a block, by introducing the special member function "delete" for this purpose. Despite the name, the 1980 "delete" member functions corresponded to what later, in C++, were renamed as destructors.
So in 1980, RAII was complete, but it was not yet promoted as a universal strategy for managing resources.
In 1980, Common Lisp did not exist.
Most older Lisps did not have any concept similar with the Algol block, so it would have been impossible for them to invoke implicitly some cleanup functions at block exits. They relied only on the garbage collector, where there is no RAII in the Stroustrup sense, even if GC and RAII are alternative methods for avoiding the explicit invocations of "free", "close" and the like.