Yes. Current Standard ยง4.2. RFC 3986.
Originally in RFC 1808, 1995, which was the first RFC defining relative URIs, in particular, although RFC 1630, 1994 gave a slightly different definition, although still allowing it.
There used to be documents other than RFC, so if someone could find an archived version of the document that was once in ftp://info.cern.ch/pub/www/doc/http-spec.txt (the first version was in 1991), then they could have given an earlier date if the indicated document gives such a form, but this requires a little more work by a historian than I can do right now.
In fact, they were always allowed, of course, since there was something that we could call a standard, this standard allowed it.
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