For InnoDB tables, Percona has a recovery tool which may help. It is far from fail-safe or perfect, and how fast you stopped your MySQL server after the accidental deletes has a major impact. If you're quick enough, changes are you can recover quite a bit of data, but recovering all data is nigh impossible.
Of cours, proper daily backups, binlogs, and possibly a replication slave (which won't help for accidental deletes but does help in case of hardware failure) are the way to go, but this tool could enable you to save as much data as possible when you did not have those yet.