I'm using a old DK book called Batman: The Ultimate Guide to the Dark Knight as a point of reference. I'm going to list elements from the comics (based on when they debuted) that later appeared in the films:
Batman (1989):
*DETECTIVE COMICS #27 - The first appearances of Batman and Commissioner Gordon
*DETECTIVE COMICS #29 - Batman's utility belt is first spotlighted
*DETECTIVE COMICS #33 ("The Batman and How He Came to Be) - The murders of Thomas and Martha Wayne are recounted
*BATMAN #1 - The Joker makes his debut. Also featured is a Batplane that's armed with a machine gun
*BATMAN #4 - Gotham City is first named
*DETECTIVE COMICS #49 - The Batmobile is officially named. The Batcave also makes its first appearance (although not fully featured or shown)
*DETECTIVE COMICS #60 - The Bat-Signal makes its first appearance
*DETECTIVE COMICS #66 - Harvey Dent makes his first appearance
*BATMAN #12 - While not officially named yet (which would occur in DETECTIVE COMICS #83), the Batcave is revealed as Batman's "secret underground hangars"
*BATMAN #16 - Alfred makes his debut
*BATMAN #47 - Batman tracks down the man (Joe Chill/Jack Napier) who murdered his parents
*BATMAN #49 - Vicki Vale makes her debut
*DETECTIVE COMICS #168 - The Joker's origin is revealed
Batman Returns
*BATMAN #1 - Catwoman (then referred as "The Cat") makes her debut
*BATMAN #3 - Catwoman first appears in costume
*DETECTIVE COMICS #58 - The Penguin makes his debut
*BATMAN #25 - The first major villain team-up as the Penguin (in both the comics and the movie) join forces with the Joker (the comics)/Catwoman (the movie) to thwart Batman
*DETECTIVE COMICS - The first official Batboat (or Batskiboat in Batman Returns) is used
*BATMAN #35 - A blonde Catwoman (a la Michelle Pfeiffer) appears
*BATMAN #62 - Catwoman's origin is chronicled
Batman Forever
*DETECTIVE COMICS #38 - Dick Grayson/Robin makes his debut
*DETECTIVE COMICS #66 - Two-Face makes his debut (I already mentioned Harvey Dent's first appearance in relation to the '89 film, but that was before he called scarred)
*DETECTIVE COMICS #140 - The Riddler makes his debut
*BATMAN #61 - The second Batplane is revealed
*DETECTIVE COMICS #147 - Batman and Robin employ a "Sub-Batmarine" to net the Tiger Shark. In Batman Forever, the Batplane/Batwing can transform into a Batsub
*DETECTIVE COMICS #156 - A new Batmobile model is revealed
*DETECTIVE COMICS #205 - The origin of the Batcave is revealed
*DETECTIVE COMICS #327 - Batman's "new look" (in relation to the change from Tim Burton to Joel Schumacher as director and Michael Keaton to Val Kilmer as Batman) premieres
*BATMAN #326 - Arkham Asylum is introduced
Batman & Robin
*DETECTIVE COMICS #31 - Julie Madison is introduced
*BATMAN #24 - Batman first uses a Bat-Sled
*DETECTIVE COMICS #41 - Robin tackles his first solo adventure. In Batman & Robin, Robin proclaims to Batman that he's going solo rather than have to continue to abide by his rules
*BATMAN #121 - Mr. Freeze (then called "Mr. Zero") makes his debut
*BATMAN #139 - Kathy Kane's (Bat-Woman) niece Bette appears as a blonde Bat-Girl. In Batman & Robin, Alfred's blonde niece Barbara becomes Batgirl
*BATMAN #181 - Poison Ivy makes her debut
*DETECTIVE COMICS #371 - The Batmobile from the live-action 1960s Adam West Batman TV series briefly becomes the official comic book Batmobile. In Batman & Robin (which is often derided from trying too hard to emulate the campy style of the show), a new Batmobile (the Batmobile in Forever was blown up by the Riddler) is featured.
*DETECTIVE COMICS #359 - Barbara Gordon (Barbara Wilson in Batman & Robin) debuts as Batgirl
*BATMAN: VENGEANCE OF BANE #1 - Bane makes his debut
Batman (1989):
*DETECTIVE COMICS #27 - The first appearances of Batman and Commissioner Gordon
*DETECTIVE COMICS #29 - Batman's utility belt is first spotlighted
*DETECTIVE COMICS #33 ("The Batman and How He Came to Be) - The murders of Thomas and Martha Wayne are recounted
*BATMAN #1 - The Joker makes his debut. Also featured is a Batplane that's armed with a machine gun
*BATMAN #4 - Gotham City is first named
*DETECTIVE COMICS #49 - The Batmobile is officially named. The Batcave also makes its first appearance (although not fully featured or shown)
*DETECTIVE COMICS #60 - The Bat-Signal makes its first appearance
*DETECTIVE COMICS #66 - Harvey Dent makes his first appearance
*BATMAN #12 - While not officially named yet (which would occur in DETECTIVE COMICS #83), the Batcave is revealed as Batman's "secret underground hangars"
*BATMAN #16 - Alfred makes his debut
*BATMAN #47 - Batman tracks down the man (Joe Chill/Jack Napier) who murdered his parents
*BATMAN #49 - Vicki Vale makes her debut
*DETECTIVE COMICS #168 - The Joker's origin is revealed
Batman Returns
*BATMAN #1 - Catwoman (then referred as "The Cat") makes her debut
*BATMAN #3 - Catwoman first appears in costume
*DETECTIVE COMICS #58 - The Penguin makes his debut
*BATMAN #25 - The first major villain team-up as the Penguin (in both the comics and the movie) join forces with the Joker (the comics)/Catwoman (the movie) to thwart Batman
*DETECTIVE COMICS - The first official Batboat (or Batskiboat in Batman Returns) is used
*BATMAN #35 - A blonde Catwoman (a la Michelle Pfeiffer) appears
*BATMAN #62 - Catwoman's origin is chronicled
Batman Forever
*DETECTIVE COMICS #38 - Dick Grayson/Robin makes his debut
*DETECTIVE COMICS #66 - Two-Face makes his debut (I already mentioned Harvey Dent's first appearance in relation to the '89 film, but that was before he called scarred)
*DETECTIVE COMICS #140 - The Riddler makes his debut
*BATMAN #61 - The second Batplane is revealed
*DETECTIVE COMICS #147 - Batman and Robin employ a "Sub-Batmarine" to net the Tiger Shark. In Batman Forever, the Batplane/Batwing can transform into a Batsub
*DETECTIVE COMICS #156 - A new Batmobile model is revealed
*DETECTIVE COMICS #205 - The origin of the Batcave is revealed
*DETECTIVE COMICS #327 - Batman's "new look" (in relation to the change from Tim Burton to Joel Schumacher as director and Michael Keaton to Val Kilmer as Batman) premieres
*BATMAN #326 - Arkham Asylum is introduced
Batman & Robin
*DETECTIVE COMICS #31 - Julie Madison is introduced
*BATMAN #24 - Batman first uses a Bat-Sled
*DETECTIVE COMICS #41 - Robin tackles his first solo adventure. In Batman & Robin, Robin proclaims to Batman that he's going solo rather than have to continue to abide by his rules
*BATMAN #121 - Mr. Freeze (then called "Mr. Zero") makes his debut
*BATMAN #139 - Kathy Kane's (Bat-Woman) niece Bette appears as a blonde Bat-Girl. In Batman & Robin, Alfred's blonde niece Barbara becomes Batgirl
*BATMAN #181 - Poison Ivy makes her debut
*DETECTIVE COMICS #371 - The Batmobile from the live-action 1960s Adam West Batman TV series briefly becomes the official comic book Batmobile. In Batman & Robin (which is often derided from trying too hard to emulate the campy style of the show), a new Batmobile (the Batmobile in Forever was blown up by the Riddler) is featured.
*DETECTIVE COMICS #359 - Barbara Gordon (Barbara Wilson in Batman & Robin) debuts as Batgirl
*BATMAN: VENGEANCE OF BANE #1 - Bane makes his debut
