Nope. The only exception is when the release is still brand new and has not yet been signed, or whatever they call it. For a brief time period I think Apple allows a new release to be removed and the old one restored via backup, but that window of opportunity usually doesn't last long. Once that window closes you are stuck with the new one, unless perhaps if you jailbreak, not sure about the jailbreaking. I not sure if that is just for major releases like iOS 9.x.x to 10.0.0 or whether they allow the window of restoration for 10.x to 10.y. Either way, you needed to have backed up prior to installing the new release and you needed to install the new release very soon after it was released. Personally I never install the new major releases for at least a month after they are released. That way I can follow the forums and identify potential issues. If there are too many issues, I wait even longer.