No, it doesn't seem so. On Zyuganov's invitation in particular, Klebnikov's Godfather of the Kremlin: Life and Times of Boris Berezovsky states that "Yeltsin immediately rejected [Zyuganov's offer of a debate], fearing a spontaneous debate on Russia's decline". He cites a Moscow Times article of May 12th, 1996, which reads:
On Friday, the Communist Party's press service disseminated a letter
sent from Zyuganov to Yeltsin, dated Wednesday, in which the Communist
leader called on the president to meet on live television for an "open
discussion, without aides and consultants."
Zyuganov proposed that each candidate would give his views "on the
main problems of the country, the paths of its development, the means
of bringing Russia out of its current dangerous condition." Such a
meeting, wrote Zyuganov, would help citizens to "make their choice
independently in this decisive moment."
Yeltsin, however, has apparently rejected Zyuganov's invitation.
Izvestia, in its Sunday edition, quoted the president as answering: "I
was a communist for 30 years and heard so much of that demagogy that
today, given my democratic world view, I can no longer endure that
demagogy."
It does not appear that Yeltsin took part in any formal debates with any other candidates.