I lost my parental rights in the state of Texas due to
Not completing and complying in the time frame with the service plan given by C.P.S. Is there anyway to ever receive my parental rights again? And if so how?

Were the child/ren taken and placed in the system? Were they adopted out ? If they are still it in system then there may be some possibility so long as your situation is straightened out and you have a proven record.

If they have been adopted out then no you stand no chance of recovery of rights.