Yes. Several different societies constructed them at varying levels of sophistication and success, but the Romans were probably the most proficient. There were so many artificial Roman breakwaters and so many modern remains of them, that there is a research initiative to study them. This connected study gives a little detail about one such breakwater. Here is the Sebastos harbor at Caesarea; here is a map showing the extensive Roman port facilities built under the emperor on the coast west of Rome, near Ostia.