Jason Todd is arguably another major example (before he died, came back and became the Red Hood of course). In fact, I think Batman's MO to a large extent is rehabilitating small-time criminals and making sure that they never end up doing something really bad. I doubt he'll spent much time trying to rehabilitate the Joker (though he did sorta try in The Killing Joke).
Also, there's an episode of TAS (or rather 'The New Batman Adventures') where he roughs up this crook in front of his family, an event which leads to Dick ending their partnership and quitting as Robin. Years later, Dick, now Nightwing, discovers that the crook was later given a job at Wayne Enterprises and is now a decent law-abiding citizen, thanks to Batman's intervention (as well as Bruce Wayne)...which convinces Dick that his ex-mentor wasn't ALL about vengeance.