I didn't know Batman Beyond had a comic book, so I have no idea whether the two are close enough to count.
As for the Terminator series, Sarah, John, and Kyle (in flashbacks) are the only crossover characters between the show and the movies. And the basic setup (trying to stop Skynet from ending the world, future John Connor is the leader of the resistence against the machines, both Skynet and Future John sending people back in time to change things). However, a whole lot of the details are different. There are many regular characters (Cameron, Derek Reese, James Ellison, Catherine Weaver, Cromartie/John Henry) and supporting characters (Jesse Flores, Riley Dawson, Savannah Weaver, Charlie Dixon) who never show up in the movies, and lots of plot threads that don't show up either. The largest difference being the series ending: it ends on a cliffhanger, with teenage John traveling to the future in a spur of the moment decision that ends up with him in a future in which John Connor is not the leader of the resistance because John Connor wasn't there. None of these plot points or characters show up in Terminator Salvation or Terminator Genisys.
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As for the Terminator series, Sarah, John, and Kyle (in flashbacks) are the only crossover characters between the show and the movies. And the basic setup (trying to stop Skynet from ending the world, future John Connor is the leader of the resistence against the machines, both Skynet and Future John sending people back in time to change things). However, a whole lot of the details are different. There are many regular characters (Cameron, Derek Reese, James Ellison, Catherine Weaver, Cromartie/John Henry) and supporting characters (Jesse Flores, Riley Dawson, Savannah Weaver, Charlie Dixon) who never show up in the movies, and lots of plot threads that don't show up either. The largest difference being the series ending: it ends on a cliffhanger, with teenage John traveling to the future in a spur of the moment decision that ends up with him in a future in which John Connor is not the leader of the resistance because John Connor wasn't there. None of these plot points or characters show up in Terminator Salvation or Terminator Genisys.