Deleted iCloud backup from iPad, can I recover it?

So I deleted my iPad backup on the device few weeks ago as it claimed it couldn't backup due to storage issues. I deleted the current file and thought I'd try again to resolve the issue, and before I had time to do this my iPad got stolen. Is there a way of recovering the last backup from iCloud even though it got deleted? I was using iPad Air 2 with the latest iOS update.