Two Presidents have been impeached, but found not guilty of charges levied against them in the impeachment proceedings. Andrew Johnson in 1868 and Bill Clinton in 1998.

I won't go into Clinton's specifics because it's recent history.

Johnson was accused of violating the Tenure of Office Act, which required that a President get the approval of congress before removing a cabinet member. He fired Edwin Stanton, secretary of War a few days prior to the charges being filed.

A single senate vote kept Johnson from being convicted and removal from office.

The impeachment process requires hearings and a vote by the House of Representatives and a 2/3 vote in the senate before a president is convicted and removed from office.

If what you are asking is whether a president has been removed from office, the answer is no. But two have been impeached by the house without obtaining the 2/3 requirement in the senate.