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This question already has an answer here:

Someone thought that in both AotC and RotS R2-D2 should have rockets built into his side legs, but if he still had the thrusters in ANH and beyond he never visibly used them- was there ever an explanation to why?

marked as duplicate by Jason Baker, Firebat, Rand al'Thor, BBlake, Major Stackings Nov 1 '15 at 0:55

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His thrusters were out of warranty by the time of the Original Trilogy.

Industrial Automaton, Artoo's parent company, limited its factory warranty on astromech rockets to about 20 years.
-- Pablo Hidalgo, The Official UK Star Wars Magazine, issue 42 (Jan/Feb 2003)

(I found this reference here.)

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