It's certainly possible theoretically. Solve for $\ce{pH < 0}$:
$\ce{-log[H+] < 0\\
log[H+] > 0\\
[H+] > 1}$
So, as you said, a solution in which the hydrogen ion concentration exceeds one should theoretically have a negative $\ce{pH}$. That said, at those extremes of concentration, the utility and accuracy of the $\ce{pH}$ scale breaks down for various reasons.
Even acids conventionally categorized as "strong" do not in fact dissociate 100%. In reality, their dissociation is also essentially an equilibrium process, though this only becomes apparent at surpassingly high concentrations. As the solution becomes more concentrated, any additional acid cannot be as thoroughly solvated, and the chemical equilibrium begins to favor dissociation progressively less and less. Hence, as the solution becomes increasingly saturated, the extent of dissociation begins to plateau and the hydrogen ion concentration approaches some practical upper limit. Furthermore, $\ce{pH}$ measured via molar concentration as a proxy for thermodynamic activity is inherently inaccurate at the extremes of concentration. Other phenomena, such as the formation of distinct chemical species by self-ionization in a concentration-dependent manner further complicate things (e.g., generation of $\ce{H3SO4+}$ in concentrated sulfuric acid, $\ce{H2F+}$ in concentrated hydrofluoric acid, etc.).
For highly concentrated solutions of strong acids, alternatives/extensions to $\ce{pH}$ exist that are functional beyond the limits of $\ce{pH}$ (see, for example, the Hammett acidity function).
As for whether solutions of negative $\ce{pH}$ have actually been experimentally prepared or observed, the answer is yes. Here's a link to one article describing the measurement of $\ce{pH}$ in acidic mine waters, which cites a figure of $-3.6$.