Old Testament: no worship of angels, though they ministered often to Israel
As for the Old Testament, the teachers of the Roman Church themselves admit that the worship they usually give to departed saints was not practiced in the Old Testament Church. The reason they give is that at that time the souls of the saints did not yet enjoy the heavenly glory and blessedness to which they were raised after Christ's coming, but were held in a kind of prison, which they call the limbo of the Fathers.
But at least there is no reason why the worship they give to angels, if it is lawful, should not have been given to angels under the Old Testament. In fact, if angels are ever to be worshiped, that was the time above all: God mostly used the ministry of angels in governing his ancient people, and they appeared frequently in the Jewish Church, because God often used them as his messengers to the faithful. In the Church of the New Testament, by contrast, God has spoken to us through the Son, to whom, and not to angels, he has subjected the world to come, as the Apostle teaches in Hebrews 2:5.
Yet neither from Holy Scripture nor from any record of the history of the Jewish nation can it be shown that even the smallest part of public worship was given to angels: that any chapel or oratory was consecrated in their honor, any feast kept, or a single candle lit or grain of incense offered to them; or that in the public assemblies of the faithful any prayers were addressed to them, hymns sung, or any form of adoration shown at all. On the contrary, everyone agrees beyond doubt that the opposite is plainly the case. And nothing would have stood in the way; indeed, it would have been most fitting for the Jews to honor angels with such worship, if it were lawful for us.
Latin
LVIII. Et quidem quod ad Vetus Testamentum attinet, fatentur ipsi Doctores Ecclesiae Romanae cultum qui Sanctis defunctis apud ipsos exhiberi solet in Ecclesia Veteris Testamenti usitatum non fuisse. Cujus rei hanc rationem afferunt, quod animae Sanctorum tum temporis nondum fruebantur illa caelesti gloria & beatitudine, ad quam post Christi adventum evectae sunt: sed in quodam veluti carcere detinebantur, quem carcerem limbum Patrum vocant. At saltem nulla ratio est cur cultus quem Angelis exhibent, si quidem legitimus sit, sub Veteri Testamento non debuerit Angelis exhiberi. Imo si unquam colendi sunt Angeli, tum maxime coli debuerunt: cum in populo veteri gubernando Angelorum ministerio Deus plerunque sit usus, & frequentes fuerint in Ecclesia Judaica illorum apparitiones: quia scilicet, Deus illis internunciis apud fideles saepius utebatur. Cum in Ecclesia Novi Testamenti locutus sit nobis Deus per Filium, cui & non Angelis mundum hunc futurum subjecit, ut docet Apostolus Heb. 2. 3. Et tamen neque ex Scriptura sacra, nec etiam ex ullis historiae & Gentis Judaicae monumentis, ostendi potest vel minimam cultus publici partem Angelis impensam fuisse, exempli causa, in honorem eorum ullum sacellum vel oratorium fuisse consecratum, ullave festa celebrata, & vel unicum cereum, aut thuris granum illis oblatum & accensum fuisse: aut in publicis fidelium coetibus ullas fuisse ad ipsos preces conceptas, & hymnos decantatos, vel ullam denique adorationis speciem exhibitam. Quin contrarium plane apud omnes indubie constat. Cum tamen nihil prohiberet, imo maxime conveniret Angelos tali cultu apud Judaeos prosequi, si quidem istud apud nos liceret.