Hiya!
In 5e? Nope. Not that I'm aware of anyway. I mean, there are successive skill rolls sometimes "Stealth to duck down in time, Stealth again to sneak over to the corner, Stealth again to move quietly to the other side of the corridor"...not really a "skill challenge" I guess.
Now, when I play any Masterbook (and sometimes non-Masterbook session...the whole "skill challenge" is sort of built in. At least during 'exciting' times (rounds...when time is important), a task can be given a "letter rating" of A, B, C, or D. The Drama Deck (cards) flip over by the GM each round. On them is a "Skill Challenge" line, with letters (A to D, obviously). There is also a 'favoured skill', which can also be used. Anyway, if a task is set at "B", the face-up card has to have an A in the Skill Challenge line. If it does, the PC can try and succeed in a skills check (whatever the player deems appropriate and the GM agrees). If there is no A in the Skill Challenge line, the character does NOT get to check...something is preventing/hindering too much. Anyway, if/when an A comes up, and the PC succeeds, the next letter he needs is B. If cards keep flipping up without a B on the Skill Challenge line, things keep the PC from succeeding. When a B comes up, he makes a check. If he fails, he has to wait until the next card with a B shows up.
Sounds more complicated that it is. What I really like about this system is that it adds a lot of drama to the situation. I recently had a game (Shatterzone; uses the Masterbook RPG rules) where the PC's were trapped in an elevator that was going down into a flooded level. Water was flooding in, the lights shorted out so they had to use their glo-sticks or flashlight (can't remember). They kept failing, each round the elevator went down about a foot. They kept failing their rolls, so they started to get "creative" with trying different things (skills) to get a success on their A, then B, then C (the difficulty I had set before hand). One PC died, one NPC died, and the remaining PC survived...but how he was stuck, alone, in a secret underground military base infested with bio-zombies, 60' down from the closest elevator door/level...oh, and he ended up with the "Fleet/Alien" card! (a special card that adds that sort of "movie twist" where something unexpected happens/shows up).
Wow...kinda went off on a tangent there! So anyway...no. Not for 5e or any D&D version. But Yes when playing Masterbook or using the Drama Deck (I have used it for other games like Star Frontiers and my "Gamma Mutant Epoch World"...combine Gamma World and Mutant Epoch together).
^_^
Paul L. Ming