Unfortunately no, there is no way to retrieve a deleted form. The UI asks you to confirm that you wish to delete the form and once it has been deleted it is gone.
There are a few methods to back up a form such as "Export Design File" from the File menu (you could also export the responses so you have the whole package), and "Duplicate" so you can create a backup. I know that these are proactive steps and don't help once you've already deleted your form.
Thank you Josh, I appreciate your assistance.