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If you happened to have a backup on a computer, here's how to Locate backups of your iPhone, iPad, and iPod touch.
If you never backed up the data on your device in iCloud or a computer, there is no back up that you can restore. You would need to have a back up to restore one. If you've already confirmed that you have no back up, we would still suggest checking what content you may have been storing in iCloud from before you ran out of storage in an attempt to retrieve some of your data.
Here's some additional information on how to Manage your iCloud storage.
Have a nice day.