Hi Shawn,
Your best bet is probably the Whois History tool from DomainTools: http://www.domaintools.com/research/whois-history/
This isn't a free service, but they do offer a 7-day free trial. Also, here are a few more options that might help (they will probably have less information than DomainTools):
http://www.hosterstats.com/ http://www.who.is/
Unfortunately, there's no guarantee that any of these tools will solve your problem (e.g., if the domain has had privacy enabled for many years, you'll just see historically private records), but they're probably your best option.
I hope that helps!
Cheers,
Steve