No human has ever travelled beyond Earth orbit. I believe the Apollo missions may have achieved Earth escape velocity, though their destination was Lunar orbit, which remains within Earth's.
The calculation is fun:
The kinetic energy required to escape Earth's orbit entirely is: G M / R, where G is Newton's constant, M is the mass of the Earth, and R is the radius of the Earth.
The kinetic energy required to get to the Moon is: G M / R - G M / r, where r is the distance to the moon.
To compute the ratio of the second quantity to the first, note that the GM factors cancel. So the ratio is:
(1/R-1/r) / (1/R) = 1 - R / r
The distance to the moon is about 60 times the radius of the Earth. So:
Kinetic energy required to get to moon / Kinetic energy required to escape Earth's orbit entirely = 1 - 1/60 ~ 98 %.
In other words, the Apollo missions had at least 98% the kinetic energy required to escape Earth orbit's entirely.
What truly boggles the mind is that the US at the time was a country of housewives, racial segregation and prosecutions of gays and bisexuals. Yet, or perhaps because of that, they decided that the way forward was to build a moon ship. It says a lot about society at the time.