There was an "Iceball earth" in wich, from pole to tropics, the whole Earth was frozen over; so yes that is possible.
A bit of nerdy science:
Basicly any temperature is possible for a planet or moon. (the difference is small between the 2) This is mainly because a planet/ moons temperature is regulated by its atmosphere, orbital distance to its sun/planet and its composition.
As example Venus is now a hellish hothouse; it is even hotter then Mercury wich is much closer to the sun. This because the greenhouse gasses Venus' vulcanoes spew out are heating it up to temperatures above 460 degree C, where Mercury hasn't got any atmosphere for any heat to be trapped in.
And we can see from especially the "ice giants" Neptune and Uranus, that extremely cold plantes are also possible; and this especially when they form at larger distances from a star. These kind of objects, like Neptunes moon Titan, are even possible to create weather in wich it rains liquid Methane and other substances that are a gas on Earth..... so even a shower of Liquid Nitrogeon is a possibility. But also a shower of Iron is possible if a planet is hot enough.
Also the higher an objects atmospheric pressure, the quicker it heats up; and how quicker something freezes or boils. Even on Earth the difference between sealevel and high up in the mountains this can been seen. Water boils at 100 degrees C at sealevel, yet high up in the mountains it can boil at 80 degrees or lower.... and that kinda sucks when you want to cook you meal :P So you can imagine what happens with that water when the atmosphere isn't there at all -> it vaporizes, yet when the atmosphere is dense enough water turns to ice.
And yes, as StarbuyPWNDyou said; basicly anything thats possible by the laws of physics will possibly happen; weather it does now, in the past, or the future.