You could keep them all in the same table, simply with a column to track version numbers:
id (part of PK)
version_number (part of PK)
creator_id (FK to users.id)
version_date (the date that this version is created - not necessary, but good to have)
Your application will need to be capable of handling updating the version number of a document when a new record is added but it is a new version of an existing document. You also need to ensure that any document metadata (such as
Title) changes are propagated to all related documents. You could do this by allowing document ID to not be unique, and the primary key is a combination of document ID and version number. Otherwise, it could be impossible to tell which record to update.
Another way would be to have a stub for document metadata and a separate table for all versions:
creator (FK to users.id)
document_id (FK to documents.id)
The second option is a slightly more complicated structure, but will give you better referential integrity because all version must be linked to a document stub by a foreign key.
Personally, I'd go with the second version.