I don't know if there are any, but given the sheer number of judges, I would suspect that there have been judges who have never served as lawyers; there is no requirement that a federal judge have ever served as an attorney, and requirements for state judgeship vary by jurisdiction.

The Bureau of Labor Statistics states that a bachelor's degree and work experience are the minimum requirements for judgeship or a magistrate position, but most workers have law degrees, so I'd take it as implied that some do not, and are thus exceedingly unlikely to have been lawyers.