Not especially, but there wasn't unprecedented apocalyptic panic either.

First, note that the Anno Domini era was not yet universally adopted in Europe by 1000; Popes for example were still often dating documents using regnal years (though AD was certainly well established). More significantly, the New Year was not usually celebrated on January 1, the start of the Roman civil calendar, as this had been declared unchristian by the Council of Tours in 567; depending on location, the Annunciation, Christmas or Easter were often celebrated instead. January 1 itself was part of Christmastide ('the twelve days of Christmas').

Secondly, like in 899, 1199 and 1666, there were certainly some expressions of apocalyptic fears, but my understanding is that there is no evidence that 999 was outstanding in this regards. The popular image of a millennial frenzy is partly the fault of the French republican historian Jules Michelet.

In short, the year 1000 would have been seen in at different times in different places with masses, processions and shrine offerings combined with some level of trepidation. But no fireworks (even though these were already available for sale in Song Dynasty markets).