As far as I know these are the well known protocols that offer PFS
TLS/SSL (with DHE-RSA, DHE-DSS, ECDHE-RSA or ECDHE-ECDSA)
OTR (Protocol Version 3 Spec)
IPsec (with IKEv1 and IKEv2) (RFC 2412)
Are there any other well known protocols? Have any of these been shown to be insecure?