You can load the figure in Matlab and go to View->Properties, to pull the data out of the plot's properties e.g. for a line graph plot:
You can get at the XData and YData properties and copy/paste the values of out it e.g.
Alternatively, as I had to do once when this method failed, you can save the figure as EPS/postscript and try to pull the data out of the postscript file in a text editor (!)