Yes, here are a couple of many examples-
Micheal Landon on "Bonanza" (the #1 show in early '60s).
Or this one from Shindig- even in this small photo you can see the glans of his penis.
There was also a lot of braless women on- Judy Carne, Farah Fawcett, Bonnie Franklin, Adrienne Barbeau to name a few- jiggling tits and nipple bumps was staple of '70s TV.
Never would see this now. . . . . .