This question is one of the core concepts and arguments over the NASA ARES-I crew launch vehicle. The history is mixed.
The Mercury was never pulled away, but the door was jettisoned accidentally, which almost killed the crew and did lose the capsule.
The Gemini had ejection seats. The crew was so afraid of them, that when they should have been used, they weren't. luckily the
Titan main engines shut down peacefully and the mission flew a few days later. The Apollo never used them, but then again the Saturn was, in many ways, the best launch vehicle ever. There were some times when it was the Commander's discretion however.
We know about the lack of a launch abort system on shuttle. 7 dead. There are 'Black zones' in the flight profile in the shuttle where it is acknowledged that if something goes wrong, everybody dies.
The Soyuz has successfully used it's escape tower rockets. It hurt the crew, but saved there lives when the soyuz booster blew up on the pad.
Space-X is not yet building a launch escape tower for the dragon/Falcon9 vehicle. They are offering the dragon as a crew return, but not launch vehicle for this reason. They estimate $300M for the escape tower. That is more than the development cost for the Falcon I. (probably)
On the topic of ARES-I, because the SRB first stage can not be shut down, the escape rockets need to be considerably more powerful and therefor heavier which drives the weight of the system way up…Which required a better 1st stage that wasn't as reliable and a different second stage …. on and on. P.O.S. (Politically Optimized Stick) but I digress…..
-Gar.