Yes! Though never played/aired with the series, there are lyrics to The Munsters Theme. (They can be found on a record album entitled At Home with the Munsters from 1964.) For your enjoyment, here are the lyrics:

When you are walking down the street at night
And behind you there's no one in view
But you hear mysterious feet at night,
Then the Munsters are following you.

If you should meet this strange family
Just forget what some people have said,
The Munsters may shake your hand clammily
But they're not necessarily dead.

Behind their house you mustn't be afraid
To see a figure digging with a spade.
Perhaps someone didn't quite make the grade
With the Munsters, With the Munsters.

If when you're sleeping you dream a lot,
Ghoulish nightmares parade through your head,
And then you wake up and scream a lot,
Oh, the Munsters are under your bed.

At midnight if creatures should prowl about,
And if vampires and vultures swoop down
And werewolves and fiends shriek and howl about,
Oh, the Munsters are out on the town.

One night I dared peak through their window screen,
My hair turned white at such a crazy scene
Because every evening its Halloween
At the Munsters, at the Munsters!