Heh, no they didn't. I think the OP is referring to a parry similar to Mount and Blade's system. If that is the case, then no TES game has had it. Honestly I am not sure how good it would be, as in that game the AI was a little too good at using it.
You are wrong, Oblivion has it with mods
http://www.youtube.com/watch?v=Qokc-YlQZTo
http://www.youtube.com/watch?v=QobNUA9GXOg
http://www.youtube.com/watch?v=dKb7u79uExE