The Dragon #347 Sage Advice column "Official Answers to Your Questions" includes this exchange:
Can you choose not to bring along an item you carry when you cast teleport? If you're manacled, can you teleport out of the manacles?
The teleport spell states that you "can" bring along objects, which indicates that it isn't mandatory. Thus a manacled wizard could cast teleport to free herself from captivity. (81)
…Or, presumably, a warlock could use an effect like the lesser invocation flee the scene (Complete Arcane 134)—the effect of which is based on the spell dimension door which has language identical to the spell teleport—to remove armor or weighty garments (which I assume is usually an easier task than removing manacles).
Note: The Sage at the time was Andy Collins, primary architect of the Dungeons and Dragons 3.5 revision. While Dragon magazine was not published by Wizards of the Coast when this column was released, the 100% Official Content seal on the cover of remains.