Yes, "The Perry Mason Game" published in 1987 by TSR and now long out of print, was specifically based on this series. Images of Mason et al. on the box and game materials are made to look like Raymond Burr, Barbara Hale, William Talman, and William Hopper. There are two cases to solve, "The Case of the Stuttering Bishop" from Season 2 (originally a novel by Erle Stanley Gardner) and "The Case of the Tandem Target" from Season 7. Both cases are simplified down to four possible suspects, and the guilty party is randomly determined by drawing cards in a manner akin to Clue (but the rest of the mechanics are very different). As a result, knowing who was guilty in the original episode is no help in winning the game.