No, libertarian societies don't exist today, but they did exist once upon a time.
Well, obviously it depends on what is meant by a "libertarian society" (as I'm sure each libertarian would have his or her own definition), but I was referring to the times when government was very small compared to today; for example, the USA throughout much of the 1800's I'd think would qualify.
Contrary to your high school history books, the federal government through much of the 1800's wasn't as hands off as you'd like to think.
A few "non-libertarian" things about the 1800's US government:
1. "Corporate welfare" in the form of land grants to railroad companies was rather routine. (though the admittedly "negative" regulation on the activities of companies was minimal)
2. Slavery being legal in the South for most of that century. The core principle of most libertarian philosophy is the concept of self-ownership - the idea that nobody owns you but you. Slavery quite obviously is the very opposite of that. There were numerous laws and Supreme Court decisions on this subject that were decidedly not libertarian.
3. The law discriminating against people based on their race. Whites were clearly favored by the government both before and after abolition, and not just in the South and not just against blacks. While many schools of libertarian thought are fine with individuals and even companies being allowed to discriminate in their private business, no school of libertarian thought would consider government racial discrimination as being acceptable.
4. Women didn't have equal rights to men. They couldn't vote, they were legally subordinate to their husbands, etc. Again, libertarians don't find this kind of discrimination from the government acceptable.
5. Take a gander at a few state constitutions to see some outdated artifacts of how the non-believers should be treated. Religious discrimination by government is also unacceptable to libertarians.
I think many libertarians point to the "good old days" of the US and its small government without considering what was fundamentally wrong with this country at the time. In some cases it's just ignorance, of course - high schools tend to only teach basic history, so a lot of important information is never learned. When our country was first founded it was certainly revolutionary at that time, but it wouldn't be good enough in the eyes of most libertarians if they actually had to live in it.
