http://who.is/whois may give you a limited history (archive).
hosterstats.com can help you find a namerservers history for a given domain (not for all TLDs though).
Worse is I can't remember who was my legitimate registrar
Still, you can find out who the real, upstream, registrar is, and ask them for assistance - I'm assuming you are listed as the owner of the domain.
I just got my domain parked by some shady company I don't remember doing business with.
To be completely honest, I'm not sure what exactly happened. Did the domain registration expire recently?