The short answer is no because no surviving records of the court documents have ever been found.
The generally cited reason was that Heydrich became engaged to a woman and then a previous girlfriend reappeared and claimed Heydrich had recently proposed to her after they spent the night together in a hotel. The girlfriend's father wrote to the head of the navy and Heydrich conducted himself so poorly and with such arrogance during the subsequent military trial that he was dismissed. Walter Schellenberg, head of the SS's foreign intelligence who worked with Heydrich claimed that his only weakness was his incredible sexual appetite and that "To this he would surrender himself without inhibition or caution and the calculated control which characterised him in everything he did left him completely."
But naval historian Peter Padfield claims this series of events seems highly unlikely. Heydrich was a talented young officer who had served on the Schleswig-Holstein - one of Germany's few remaining battleships, and he'd been promoted up the ranks rather quickly - twice in 1926. He claims it's very unlikely that the German navy would have kicked someone like Heydrich out for something like betraying one woman for another.
Instead he offers 2 explanations:
Heydrich was planted in the NSDAP by the navy which would explain why Heydrich became a member of the NSDAP the day after or 2 days after his dismissal from the navy, and bluffed his way into becoming head of the SS' intelligence agency despite having no previous experience in the field since it would be a good opportunity for Heydrich to monitor the organisation. (He actually read a detective novel and used its lingo to convince Himmler he had experience, and Himmler gave Heydrich an interview because he thought Heydrich's rank of ‘Nachrichtenoffizier’ meant he was an officer of ‘Nachrichten’ which means news or information. But in military terms "Nachrichtenoffizier" meant a communication officer which has nothing to do with intelligence services and Heydrich actually had no idea what he was doing at first.) This could also explain why Heydrich never took action against the navy's brass later when he had immense power, despite his wife claiming that Heydrich was wedded to his job and loved the navy, and Heydrich's attempts to get a job in the merchant navy or as a sailing teacher after his dismissal which suggests he cared about his job. But beyond circumstantial evidence we have no proof this is the case.
Heydrich may have been kicked out for already being active within National Socialist politics but again provides no evidence. his wife claims he had no interest in politics at the time, but she was an ardent Nazi speaking years later about her husband so her account may not be reliable.
So tl;dr no. There are some theories but none really have evidence. Heydrich died in 1942, and the court records were never recovered.
Source: Adrian Weale - The SS: A New History