Yes, there have been several instances where NFL games have ended scoreless or 0-0.
According to Pro Football Reference, 73 games in the history of the NFL have ended with a 0-0 tie.
Interestingly, the last scoreless tie happened before 1967, meaning that the Super Bowl era is yet to witness a 0-0 game.
The most recent occurrence happened in 1943 when the Detroit Lions hosted the New York Giants at Briggs stadium. Two events impacted this game: World War II and rain.