Has there ever been a successful satellite launch done by amateurs? I mean both building the satellite and a rocket to carry it.
No, in fact, it's very difficult to even reach the threshold of space (50 miles or 100 km) by amateurs, they've never even gone close to the required velocity to achieve orbit. See the Amateur Rocket Wikipedia page. Basically, it's really really hard to build a rocket, taking a company like SpaceX years with many engineers to achieve success, and it just seems outside the range of amateurs at this time.
As was mentioned in comments, Amateur satellites are always secondary payloads on larger missions. There have been a number of these missions launched.
Actually they were not always done as secondary payload, in the early day of CubeSat (check out CalPoly CP CubeSats, CalPoly P-POD). Those were launched on modified ICBM specifically for the CubeSats (not in US). The practice was picked up and modified by NASA to put them as secondary payload mostly for educational purpose. But back to your question, it is very difficult for amateur to get to space, hence most academic focuses mostly on building CubeSats or instruments.