pdfimages does just that. It's is part of the poppler-utils and xpdf-utils packages.
From the manpage:
Pdfimages saves images from a Portable Document Format (PDF) file as Portable Pixmap (PPM), Portable Bitmap (PBM), or JPEG files.
Pdfimages reads the PDF file, scans one or more pages, PDF-file, and writes one PPM, PBM, or JPEG file for each image, image-root-nnn.xxx, where nnn is the image number and xxx is the image type (.ppm, .pbm, .jpg).
NB: pdfimages extracts the raw image data from the PDF file, without performing any additional transforms. Any rotation, clipping, color inversion, etc. done by the PDF content stream is ignored.