Yes there is.

Plan A:  Do you have the software for your camera loaded?  Hooking the camera up directly with all it's software installed and working may succeed where just plugging it in won't. 

Plan B:  Get a cheap USB card reader...they're on eBay cheap, I got one from a local thrift shop for €4, if you go to a proper computer shop you can expect to pay more.  Take the card out of the camera and try plugging it in via the card reader. Sometimes you get the 'need to format the card' message because the computer is having problems understanding your camera; not the card.

If you take the card with you when buying the card reader, they might let you see if it works before you have to spend any money.

Plan C: Also requires a card reader...there are a bunch of free recovery utilities to recover images from cards.  You can see if any can help.  I quite like this one:
http://www.recovermyfiles.com/
And this one:
http://www.officerecovery.com/
And this one is specifically fror camera cards:
http://www.artplus.hr/

Good luck!
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If you have a USB cable for your camera, you might try to synch the computer with the camera and transfer your pictures that way.

After you have your pictures on the computer, then you can obey your computer's wishes to format the card.

Windows can be exceedingly picky about these SD cards, and I don't know why.