Yes, several made it away to safety apart from those who were captured. Tacitus says that the survivors, those who had fled the battle or escaped from captivity (pugnam aut vincula elapsi), showed Germanicus where the legates fell, where Arminius mustered his troops, etc. Paterculus is thought to have used the testimony of survivors of the battle as a source, and he mentions that Lucius Caedicius, the camp prefect, broke out with some of the survivors of the battle. Cassius Dio mentions the failure to capture this camp, and also notes that a number of prisoners were later ransomed on the condition that they never return to Italy.