Zelda 1 didn't. And its debatable if the other games did since required items were found in a dungeon. You can say Zelda 2 and Link's Awakening did however. But in the case of Link's Awakening, the "fetch quests" were just one long quest.
Twilight Princess on the other hand is "go talk to NPC, listen to empty whining, get quest, go do quest, return to NPC, listen to pointless thank you dialogue, repeat 100 times." The epitome of filler.