I don't think so, but there were gryojets, which were half way there. They were bullet-sized rockets fired from a gun with an unrifled barrel that accelerated as they flew, exceeding Mach 1 at terminal velocity.

Supposedly you could literally slap them out of the air if you were at the muzzle, when they had just begun accelerating.

They were in the James Bond movie You Only Live Twice.

https://en.wikipedia.org/wiki/Gyrojet