SEMCO, to me, is the best example of this. While they haven't fired all of their managers, they are a very large company doing self-management in a whole bunch of different verticals.

Books by the SEMCO founder, Ricardo Semler:

Maverick - http://www.amazon.com/Maverick-Success-Behind-Unusual-Workpl...

The Seven Day Weekend - http://www.amazon.com/Seven-Day-Weekend-Changing-Work-Works-...