Yes.
Medullary cavity (because bones like feet are short bones and they have the cavity)
only in the spinal cavity all of the others the bones are the borders of the cavities.
Spinal cavity
The cavity between bones at the joint is known as the synovial cavity. This space is filled with synovial fluid, which helps to reduce friction and facilitate smooth movement of the bones at the joint.
Usually the bones are the perimeter of the cavity like the skull is the perimeter of the cranial cavity or the ribs of the abdominal pelvic cavity. But the spine is in the spinal cavity, I'm not 100% sure if the pelvis is in the pelvic cavity off the top of my head, so in short yes there are bones in certain body cavities.
endosteum
There is no spinal cavity . . . the spinal cord runs down the back in the spine bones, or vertebrae, and is enclosed on all sides by the vertebrae bones.
The metacarpal bones are the bones distal to the wrist.metacarpalsThe five hand bones between the carpal bones of the wrist and the phalangeal bones of the fingers are the metacarpals.
cranium
No bones in the abdominal cavity. The only bones supporting the abdomen are the ones in the backbone.
The ethmoid bone is the cartilage of the nasal cavity. It separate the nasal cavity from the brain and is one of the bones that make the orbit holding the eyes.
Sinuses, or air cavities.