There is no way to directly recover the record, but you can use the audit summary (if audit was enabled for that entity) to find the data values for the record when it was deleted, and manually recreate the record.
You can find this by going to Advanced Settings, Settings, Auditing, Audit Summary View, then use the filters (e.g. filter by Event = Delete, and maybe by Entity or Changed By) to find the audit record, then double-click on it to see the details. Note that, for Delete events, the 'Record' column will say 'Record or Display Name Unavailable'
