In short, yes.

In early medieval Ireland satire was definitely feared and there are numerous references in the literature and the laws. There was a belief that satire had physical ramifications, and is often metaphorically referred to as a blade or a weapon, such as in Bretha Nemed Toísech.

The tale of 'Guaire's Greedy Guests' has the host, Guaire, acquiescing to increasingly ridiculous requests for fear of being satirized and shamed. In the epic, Táin Bó Cúailnge the queen of Connacht, Medb, uses the threat of satire to extort a warrior to attend an audience with her.

In Cath Maige Tuired, or The Second Battle of Moytura Cridenbél, a blind poet, is lodged in the house of the Dagdae (the good god) and every day threatens his host with satire unless he be given the choice portions of meat. The Dagdae complies and his health suffers, but he avoids the satire. Eventually, the Dagdae, at the advisement of his son the Mac Óc, places gold coins in the food which kill the poet and relieves him of his plight.

There are also examples of satire manifesting physically, in the form of blisters that appear on the face: a red, a green and a white one in the story of Nédé Mac Adnai and black, red and white in The Wooing of Luaine.

I can't speak for anywhere else in the medieval world but in Ireland, certainly.

Sources: Elliot, Robert C. The Power of Satire: Magic, Ritual and Art. Princeton: Princeton University Press, 1960.

Ford, Patrick K. (trans). "Guaire's Greedy Guests." in The Celtic Poets: Songs and Tales from Early Ireland and Wales, by Patrick K. Ford, 77-112. Belmont, Massachusetts: Ford & Bailie, Publishers, 1999.

Kinsella, Thomas. The Táin. Oxford: Oxford University Press, 2002

McLaughlin, Roisin. Early Irish Satire. Dublin: School of Celtic Studies, Dublin Institute for Advanced Studies, 2008.

Ó Cathasaigh, Tomás. "Curse and Satire." Éigse 21, 1986: 10-15.

Stokes, Whitley (trans). "Cath Maige Tuired (The Second Battle of Moytura)." University College Cork. 2004. http://www.ucc.ie/celt/online/T300011.html

Stokes, Whitley (trans). "Story of Nédé Mac Adnai." 1000 Ans de Poésie Française. October 31, 1997. http://sejh.pagesperso-orange.fr/keltia/version-en/nede-en.html

Stokes, Whitley (trans). "The Wooing of Luaine and the Death of Athirne." Revue Celtique, 1903: 270-288.