Untrue. Allow me to cite a comprehensive comment /u/jetpacksforall made about this:
Hate to break up all the fun, but the notion that pre-20th century doctors gave female patients "paroxysms" or "pelvic massage" orgasms as a common practice sounds farfetched and hard to believe... because it is far-fetched and probably not true.
ALL modern claims that this was a common practice are derived from a single source: Rachel Maines' The Technology of Orgasm. But there are some serious problems with Maines' scholarship, some of which are detailed on the histsex discussion list compiled here, and there are a lot of other reasons to think that this practice, if it occurred, was anything but widespread (pun not intended):