General:
* Fled
* Got away
* Broke free
* Slipped away
* Made good their escape
* Evacuated
* Left
Specific to escape from prison/confinement:
* Broke out
* Absconded
* Evaded capture
* Got loose
* Ran away
Specific to escaping danger:
* Avoided
* Dodged
* Eluded
* Survived
More figurative:
* Liberated
* Emancipated
* Released
The best synonym for "escaped" will depend on the specific situation and the desired tone.
