Yes, the Romans made extensive use of gesticulation in their speech, at least in their oratory and it seems in the streets as well. Cicero mentions them at some length in De Oratore and we have quite a lot of depictions of speakers in the process of motioning with their hands. Gesticulation in Latin and Greek was probably somewhat different, however. Latin was somewhat slower than modern Italian (although Vulgar Latin was probably still pretty rapid) and compared to Modern Greek Ancient Greek must have been frustratingly sluggish. Gesticulation seems therefore to have mainly been a method of conveying tone and emotion, as well as emphasizing certain points. We don't really know how much gesticulation was used in Vulgar Latin, nor do we know whether it would be used during a poetic recitation (probably not), but elsewhere it seems quite common. Most depictions of great statesmen from the Hellenistic Period on show them with an arm raised or something like that, which is a method of graphically representing the gesticulations that accompanied a good orator's speech. It's generally thought that when Antony murdered Cicero and ordered his head and hands cut off he did so because the hands were as much a part of the orator's toolkit as the tongue (also probably because Cicero wrote so much). A lot of our evidence for gesticulation is rather indirect, however, and particularly with rhetorical Latin it's important to remember that this is not what people actually spoke, even when proper speech was necessary. Rhetorical Latin called for extreme propriety of speech and grammar and played extensively on emotion, often by using metrical devices like in poetry (hence the phrase "metric prose"). But, for example, we find in Aristophanes that many gags point out characters' hand motions. Although Attic drama was very formalized and relied extensively on gestures to convey meaning (partly because it was difficult to do so with masks in the way, and partly because it descended from ritual dances and dithyrambs) it seems quite likely that such motions were used often. It's an interesting field of study, figuring out where gestures belong in plays and speeches. There's usually some sort of indication in the wording of a speech that there's supposed to be a gesture there. A pause in the meter, or a break in flow usually indicates that there's some kind of pause for effect, coupled with hand motions (for example, Cicero's "O tempora! O mores!" is quite obviously supposed to be coupled with an expression of woe, seeing as that it suddenly interjects into the middle of a thought with a formulaic expression of grief) and phrases that are supposed to be emphasized seem to have been accompanied by some hand motion to make the emphasis clear. Remember that Greek doesn't seem to have had a stress accent and literary and rhetorical Latin subverted Latin's already weak stress, since it was bad form. Oratory furthermore rarely used the conventional methods of showing stress, such as stating the personal pronoun even though Latin verbs don't need one, since those usually involved unnecessary repetition that was time-consuming (remember these speeches had a time limit) and poor rhetorical technique.