Did the Buddha teach meditation to lay people?
The Buddha taught people according to what interest them. Maybe, there were few lay people interested in meditation while still enjoying lay lifestyle then. 

Though there is no record of such meditation suttas teaching to lay people, I believe a few excellent lay disciples received meditation guidance from the Buddha. For example, there is Uttarā Nandamātā who is described as "the best of women disciples in meditative power (jhāyīnam)". There is also Citta the Householder who is well-versed in meditation. There is a whole fascinating Samyutta about him.