If it was prehistory, it means it was not recorded. How would we know? Archaeology can't tell us, you can't know if a woman was kidnapped by examining bones and broken pottery.

Have you considered asking /r/AskAnthropology, which may have more experts on prehistory?

This is happening even today:

The Yanomamö: http://www.artofmanliness.com/2013/06/10/the-yanomamo-and-the-origins-of-male-honor/

Kyrgyzistan: http://topdocumentaryfilms.com/bride-kidnapping-kyrgyzstan/

In recorded history of Romans: http://en.wikipedia.org/wiki/The_Rape_of_the_Sabine_Women

The name Europe itself comes from a Greek myth that is, er, "questionably consensual": http://en.wikipedia.org/wiki/Europa_%28mythology%29#Abduction and while this is a myth, myths can be seen as reflections of mores.

Lot of places: http://en.wikipedia.org/wiki/Bride_kidnapping

From these sources referenced in the articles, I would not call it universal, but yes, an accepted custom in many cultures, not necessarily even in prehistory, but much later, even up to today.