In addition to Samuel Chase, and as Big RR pointed out:
lower level federal judges have been impeached and removed from office.
Most recently the Honorable Alcee Hastings: (I say "Honorable" because he's still a member of the United States House Of Representatives:)
Alcee Lamar Hastings (born September 5, 1936) is the U.S. Representative for Florida's 20th congressional district, serving in Congress since 1993. He is a member of the Democratic Party. He served as a judge on the United States District Court for the Southern District of Florida from 1979, until his impeachment from that post in 1989
In 1977, he became a judge of the circuit court of Broward County, Florida. In 1979, he was appointed by President Jimmy Carter as a U.S. district judge for the Southern District of Florida.
In 1981, Hastings was charged with accepting a $150,000 bribe in exchange for a lenient sentence and a return of seized assets for 21 counts of racketeering by Frank and Thomas Romano, and of perjury in his testimony about the case. In 1983, he was acquitted by a jury after his alleged co-conspirator, William Borders, refused to testify in court, resulting in a jail sentence for Borders.[2]
In 1988, the Democratic-controlled U.S. House of Representatives took up the case, and Hastings was impeached for bribery and perjury by a vote of 413-3. He was then convicted in 1989 by the United States Senate becoming the sixth federal judge in the history of the United States to be removed from office by the Senate. The Senate, in two hours of roll calls, voted on 11 of the 17 articles of impeachment. It convicted Hastings of eight of the 11 articles. The vote on the first article was 69 for and 26 opposed.[3]
https://en.wikipedia.org/wiki/Alcee_Hastings
A career Marion Barry could love...
And then of course there was the semi-serious but mostly political effort to impeach Earl Warren, back in the late 60's...
When then Republican House Leader Gerald Ford famously observed, "An impeachable offense is whatever a majority of the House of Representatives considers it to be at a given moment in history"...
(That was accurate, but those words later came back to haunt him with the press when he served as Dick Nixon's VP...

)
Dave is a little older than me, so you would think he would remember the whole Earl Warren thing...