A bunch that come to mind...(in no particular order)
Jonny Quest
Perry Mason
Green Acres
Petticoat Junction (end theme instrumental)
Hogan's Heroes (end theme)
Beauty and the Beast (Linda Hamilton-Ron Perlman version)
The Flip Wilson Show
MacGyver
Superfriends (first series)
Sheena, Queen of the Jungle ("Irish" McCalla version, end theme w/strings & harp)
Mission: Impossible
Mannix
The Edge of Night (50's/early 60's piano & organ end theme)
The Rifleman
Wendy and Me
Ted Mack's Original Amateur Hour (end credits)
Great as they are, I'm not sure if the Beatles songs really qualify, as they were just the use of existing songs. (Something like variety shows that used their host's biggest hit as a theme; Sonny and Cher, Tom Jones, Tony Orlando & Dawn, etc.) Hats off to all the talented composers who have worked in TV!