There were numerous successful Allied escapes from the (supposedly) high security POW "camp" in Colditz Castle (overlooking the town of Colditz in the German state of Saxony, which became part of East Germany after the war). Wikipedia covers the attempts with links to other details.
Mario Bosch has a long list of Colditz books in his collection -- spanning several languages.
One of the originals, Pat Reid's 1952 "Escape from Colditz" is available from Archive.org for those with an encryption key from the Library of Congress' National Library Service for the Blind and Physically Handicapped.
For the rest of us, Archive.org offers a free download (in several formats) of "Colditz: The German Side of the Story" (1962), an English translation of a book by Reinhold Eggers, the German Security Officer at Colditz.