I don't think there is an official listing of previous title regulations. You just have to glean what you can from internet searches.
Here's what I found.
From the 1st July 2009 the following changes will apply to FIDE
1) Only one player can having a rating uplift, instead of two.
2) The rating of the player uplifted has been reduced by 50 points.
Hence the uplift for a GM norm is now 2200 (was 2250), IM norm 2050
3) Performance requirements and requirements of the opponents’ ratings
have been changed to even tens. i.e GM norm used to be 2601
performance, now 2600, minimum average rating of opponents used to be
2381, now 2380.
4) For any given title norm at least 1/3 of a players opponents must
hold that title. i.e. For a GM norm 1/3 must hold GM title. Whilst in
comparison to the old regulations this makes no change to a 9 round
event, it would effect a 12 round event where 4 GM's would be required
(used to be 3).
Going back to the beginning, this chessbase article fills in some of the history - https://en.chessbase.com/post/a-gm-is-a-gm--fide-title-devaluation-270613
When grandmaster titles were first awarded in 1950, they were given to the world champion Mikhail Botvinnik and all those who had qualified or been seeded in the inaugural Candidates Tournament: Isaac Boleslavsky, Igor Bondarevsky, David Bronstein, Max Euwe, Reuben Fine, Salo Flohr, Paul Keres, Alexander Kotov, Andor Lilienthal, Miguel Najdorf, Samuel Reshevsky, Vasily Smyslov, Gideon Ståhlberg, and László Szabó.
The title was also given to older living players who were recognized as having been world class at their peak: Ossip Bernstein, Oldrich Duras, Ernst Grünfeld, Borislav Kostic, Grigory Levenfish, Géza Maróczy, Jacques Mieses, Viacheslav Ragozin, Akiba Rubinstein, Friedrich Sämisch, Savielly Tartakower, and Milan Vidmar.
In 1957 the regulations were set to give the GM title automatically to the world champion and to any player qualifying from the Interzonal tournament to play in the Candidates.
In 1965 the rules were tightened up so that a player had to score 40% in the Candidates Tournament, or reach the quarter finals of the Candidates Matches to get the title.
In 1970 the modern system was initiated whereby you had to get your rating up to a certain ELO rating - 2450 - and to get 3 "norms" in a 3 year period. A "norm" was a rating performance of 2551 or above in a suitable tournament.
Since 1970 that basic formula has been tweaked with changes to the ratings involved and the type and makeup of qualifying tournaments in terms of how many of the other players must be from different federations, how many have the GM title, what the time controls are, how many players, etc., etc.