is there any way to recover contacts that were deleted from iCloud

If you are using a single iPhone and delete contacts from the device they are permanently erased Manage and delete contacts on your iPhone, iPad, or iPod touch - Apple Support

If you had signed a Mac with same Apple ID and password on the same network and delete contact from address book ( in all contacts ) or in iCloud.com will also be erased Delete a contact on iCloud.com - Apple Support

If you ever have archived the contacts in Mac Archive or make copies of the information you store in iCloud - Apple Support

Export contacts on your Mac

1. Open Contacts. 
2. Select All Contacts.
3. Click a contact in the Contacts list.
4. Choose File > Export > Export vCard or choose Edit > Select All to select all cards for export.
5. Choose where you want to save the files, then click Save.

If you use Groups, consider archiving your entire Contacts or Address Book database as well as exporting vCards. The vCard method above copies your contacts, but not Groups. Archives are more complex, but you might not be able to restore data using Archives while connected to the Internet and signed in to iCloud.

To export an archive, open Contacts and choose File > Export > Contacts Archive. 

In any case time machine is always set up Back up your Mac with Time Machine - Apple Support , restore the items back Restore items backed up with Time Machine on Mac - Apple Support