Yes quite a few, but the most definitive summary is in a report by Tobit Curteis
(
https://www.roystoncave.co.uk/_files/ugd/301fef_47b13b3644004ea783cc125e389dca64.pdf )
"The main area of carved decoration is in a band on the lower 200 cm of the cave walls. This comprises a number of recognisable Christian scenes, including Crucifixions, the figures of St Christopher and St Catherine, St Lawrence, the Holy Family, a knight thought to be St George, and a number of crowned figures. There are also many figurative and decorative motifs, apparently with mystical symbolism, including a prancing horse and a female fertility.
The iconography in the cave has been the subject of a number of extensive studies from the moment it was discovered, some of which have been highly acrimonious. In more recent years a number of detailed studies have suggested links with the Order of Knights Templar, whose presence in Royston is well documented, as well as with the Order of Masons.
Throughout the cave, there are widespread areas of incised graffiti. The graffiti is concentrated on the lower part of the cave, on and amongst the figures. In many cases, the graffiti included dates from the mid to late 19th century. In addition to graffiti showing text and dates there are a number of incised figurative elements, including hearts within hands, a symbol of charity with Masonic links. In the case of the older graffiti and incisions, the deterioration was such that it was extremely difficult in places to distinguish between original and later incised decoration. It also appears possible that some of the figures have been manipulated or re-carved, in an attempt to tidy them up, or make them conform to a particular set of meanings."