Yes, we have discovered many such exo-planets. We usually cannot see them through a telescope, but can detect the wobble that they create in their star as they orbit around it (just as we orbit around the sun). The best tool we have to do this is the High Accuracy Radial Velocity Planet Searcher (HARPS), which was announced to have helped scientests discover over 32 exoplanets in October of last year.
Before 1991, our technology had not allowed us to see planets other than those in our solar system. Today, researchers have found 450 extrasolar planets, orbiting around 380 distant stars.
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