Random question about Batman

I haven't really dabbled with the series to much, but did the killer of Bruce Wayne's parents ever been uncovered in the comics? At first, I thought the Joker killed them, but that was just a baseless assumption.

http://batman.wikia.com/wiki/Joe_Chil

In some retellings like the Batman film with Jack Nickelson the joker was originally the killer of batmans parents, but this isn't cannon.

Thanks, I was planning on watching Gotham sometime in the future and that question popped up in my head.

Yeah I still need to watch that series to see if it's any good. Always enjoyed the Batman universe myself and the acting for this looked decent.