Most obvious one is the chimpanzee.

There is a true story of an elephant that killed two men because years ago, they were taunting and poking it when it was a baby in a cage.

Elephants that lost their mothers have also been observed to charge at poachers, but generally not humans in a larger scale as much.

I would guess that our ancestors were “better off” with revenge than without it, in the sense of “evolutionary success”. And I’m not sure it’s such a bad thing even in modern life. Knowing that someone else is vengeful can deter misbehavior before it happens, thus encouraging everybody to be nice to everybody else.

What you have to avoid is endless cycles of revenge. Have you ever read (about) the Eddas, the great epic Old Norse poems? Apparently, they can be interpreted as an argument for zoning laws! That is, their ultimate message is that we’re all just going to keep fighting one another forever until we figure out how to agree on who owns what land. (This is from a review in The New Republic.)