More than one satoshi has been lost this way. The last I looked (back in July 2014) there were about 135.2 BTC that were completely missing form the UTXO. Some of those are probably in OP_RETURN outputs, but I think quite a few of them are from a miner that failed to pay himself his full reward (due to a bug in his mining software).
A few example: block
71036, which is missing the transaction fees, 0.03
BTC. (Look at: "Unparsed address")
also the one by midnight magic. (Below)
This has happened before; a miner (midnightmagic I think) missed one satoshi in the rewards so now that satoshi is permanently lost.
You are almost correct, he wrote about it here:
https://bitcointalksearch.org/topic/m.184414.
It was more then one satoshi, as he also underpaid himself by the transaction fee. He lost 1 satoshi + 0.01
BTC (fee). He was (might still be) the only one to ever have claimed less then the block reward (Bugs making the coinbase unspendable doesn't count). Other have forgotten to claim transaction fees, but always credited themselves the full block reward.
Edit: And if you want to read more about lost bitcoins, there is a thread dedicated to it. Contains a couple of early bugs (As earlier stated by Danny) and stupid mistakes by people.
https://bitcointalksearch.org/topic/lets-add-up-the-known-lost-bitcoins-7253