Some interpretations of the Glorious Revolution in Britain in 1688 might fit this description, and that event may have been on the minds of some of the American Founding Fathers. James II of England was the Catholic king of a majority Protestant nation. Both the aristocracy and the people of England were anxious about this, as in 1640, the English Civil War had broken out, partly due to religious schisms between Puritans and Anglicans (who the Puritans accused of being Catholics in disguise, more or less). Parliament extended an invitation to the king's son-in-law, William of Orange, and the king's daughter, Mary, to assume the throne. William and Mary were both Protestants. They arrived in England and took the throne with minimal resistance. James II fled into exile.

Certainly some of the revolutionaries who participated in the various stages of the French Revolution were inspired by the same Enlightenment ideals as the American Founding Fathers, and by the American Revolution itself.

Note, however, that the quotation you use here says "alter or abolish," but that doesn't necessarily mean that such action will be peaceful. Not many governments are willing to give up their authority willingly.

While there was probably no specific declaration of rights, various governments in western classical civilization were reformed in more or less violent revolutions. Rome, for example, was a monarchy in its earliest times but eventually the kings were expelled and a republican form of government was established. Various Greek city-states vacillated among autocracy, democracy, and oligarchy under different constitutions. These changes were no doubt in the minds of the American revolutionary leaders, but the specific ideas expressed in the Declaration of Independence were inspired by Enlightenment thinkers such as Locke and Hobbes who theorized these natural rights later referred to by the Americans and French in support of their cause and moral justification.