I don't think there is an out of box query to do that or creating a query can get a workitem's history.
You can consider to use Reportable REST to print out the workitem's history, please refer to the post:

https://jazz.net/forum/questions/149321/some-questions-about-reportable-rest-api

You can expose various details based on your needs following the below details:

https://jazz.net/wiki/bin/view/Main/ReportsRESTAPI

I tried with workitem 106 to print out history's owner change, description, comment and state change:

https://localhost:9443/ccm/rpt/repository/workitem?fields=workitem/workItem[id='106']/(itemHistory/(owner/name|description|comments/content|state/name))

hopefully this helps you to start with: