If they were on internal storage, as opposed to a removable SD card, then probably not. There are software packages on the web that will tell you they can, and charge money for trying, but I can't think offhand of anyone reporting success using one of these things.
If they are on a removable card then a cheap card reader and Recuva (if using Windows) will do this just fine. If the phone is old enough that it mounts your storage as USB Mass Storage rather than as an MTP device (Media Transfer Protocol) then Recuva or similar will also work. But otherwise it's unlikely, as MTP doesn't allow the low-level access to the filesystem that you need for recovering files.