Yeah there's a handful of deleted stuff that, as far as I know, was at least never released to the public in any form other than stills from the filming. The Wampa Scene comes to mind, from Empire, with the Wampas running amok in the Rebel's base. There's a number of images from that, and then a number of of images of 3PO's removal of the Wampa warning from the "pen" that R2 lured them into.
The ANH deleted scenes were included on the old "Behind the Magic" CD-ROM, and then other deleted stuff in film form turned up such as Luke, Han, and Leia walking around the Death Star "blending in" in a comedic way (like walking around whistling, looking like they should be there, walking past Imperials in the hallways), and the Cantina Midget "duel" in the streets that was to match up to some McQuarrie Art of a shootout in the streets and things...
Also the other takes for the Cantina sequence in B&W with Han making out with a skank and so on... ANH is the only one with all the random cut footage making it out in some animated form or another. I'm sure a lot was cut that didn't make it out too, but I've never seen actual video of ROTJ and ESB cut footage except for some abandoned AT-ST deaths from Endor, but those were behind-the-scenes stuff, not really "footage".