Yes, it did. But only once. It was the big thick VCR-like one. My brother and I were playing some Red Faction (Which I thought, and still think, is a good game) multiplayer, when our dog ran by, and tripped over the cords. Wasn't the first time this happened, usually the PS2 and VCR it ironically sat on would just jolt forward half a foot, and we'd exhale a breath of relief and push it back into its cradle. However, this time, the damn thing fell all the way off, smashing onto the floor and disconnecting the power and video/audio cord. It got inspected, and what do you know, the damn gear for the disc tray had broken, so it wouldn't open without a screwdriver and a lot of pretty talking.
So a few days later, we got the PS2 slim, crisis averted. Still have the same exact PS2 sitting in my college dorm room right now. In fact I think I'll go play some Red Faction on it and enjoy myself while doing so. Excuse me.