If you have enabled version on content/document then in detail page of document you can see version history. From there you can download previous version of docuent.
For API - check VersionService, you may follow below steps.
1)Get nodeRef of document
2)get its versionHistory (VersionService.getVersionHistory)
3)Generte download URL from requried version using this noderef - version.getFrozenStateNodeRef()
Hope this help