No. Not in a million years, never. They're the best thing to ever happen to me, and although some of the teen years were a bit 'challenging,' for the most part they have been amazing. (2 daughters both in their mid to late 20s now.)
They fill a gap in your life that you never knew was there, they bring so much love and joy, and they create a love that you never knew you could feel.
The only ones you will hear (usually) talking about 'the regret of having children,' is people who don't have them. Telling tales of people they know who have children, who always seem to secretly confess to them that they actually wish they had never had them. And how jealous they are of their amazing child-free life! 
Funny that, how all these parents confide in all the child-free people that they wish they'd never had their children, and they're so jealous of the child free, but never seem to say it to people WITH children. Also, I don't know a single parent in real life who envies child-free people. In fact, most parents I know wouldn't swap places with any child-free person for anything!
I am sure some people regret their choice of partner, or regret staying with them for many decades and not moving on and finding someone else, (or just leaving them and being on their own for a few years,) but I don't think many people regret having their children. There is absolutely no reason to IMO.
You can have just as much of a full, rich life with them, as without them. (MORE full and rich in some ways.) It's just a different life. I think the 'people regret having their children' line is a myth perpetuated largely by child-free people. (Not all child free before anyone starts, but some...)