No. Not in the Return of the Jedi film (even the various special editions on DVD/Blu-Ray). She has appeared in various media which take place at Jabba's palace posing as a dancer named Arica.
According to Star Wars Insider #66:
No matter how thoroughly you comb
through the background extras of Jabba's palace, you won't find [Mara Jade]. Logically, you can't find a character
introduced in 1991 in a 1983 movie. Moreover, you won't find anyone
that has been retroactively name Mara Jade.
When Dark Horse Comics published Mara Jade: By the Emporer's Hand,
they established what exactly Mara was wearing in her guise as Arica,
the dancing girl. There is no one in the film wearing such an outfit,
so we're left to assume that Arica is just off-camera. Decipher
crafted a real-life version of the skimpy blue outfit that model
Shannon Baksa wore for the Star Wars CCG, giving us an idea of what
Mara would have looked like in those scenes.
Mara fans that have painstakingly freeze-framed all the palace footage
have found a number of hopeful contenders: the redheaded dancing girl
that flirts with Boba Fett, for instance. That's Rystàll. There's also
a woman with short dark hair, red jumpsuit, and white belt. That's
Laudica. There's a scantily clad girl with platinum blonde hair, bare
didriff, and flirtacious eyes on Bib Fortuna. Her name is Jess.
Further propagating the notion that Mara just might be visible in the
movie is her inclusion in the National Public Radio dramatization of
Return of the Jedi. She's chatting with C-3PO in a scene. Many fans
mistakenly believe that the Jedi radio drama is the same vintage as
the previous adaptations of the classic films. It's not -- it came out
in 1996, several years after Mara's introduction.
Secondary Source for above quote.
Confusing matters, you may have seen the below picture floating around on the internet:
Mara Jade became such a popular character that they incorporated her into the Star Wars Customizable Card Game. Shannon McRandle, formerly Shannon Baksa, portrayed her in these photos. The picture posted in here is taken from the Arica card in the Reflections II: Expanding the Galaxy set (2001).
Mara Jade was first introduced in 1991 in the Thrawn trilogy books, which reference Mara Jade's involvement at Jabba's palace. For the full story of Mara Jade's involvement at Jabba's palace, see the story Sleight of Hand: The Tale of Mara Jade in the book Tales from Jabba's Palace (published in 1996). These events are also referenced in the comic series, Mara Jade: By the Emperor's Hand (1998-1999) and in the Return of the Jedi radio dramatization (1996).