There has never been an official MacGyver game, but there are some  games which are loosely based on MacGyver or have MacGyver like elements to them.

Below is a list of some games we have found.

The MacGyver Escape game
Use your wits and MacGyverisms to escape from the room in this
Curry Frank created Java game.

The Secret of Bastow Manor
The old Commodore 64 adventure game with a distinctive Deathlock feel to it.

The White Chamber
Can you escape from the White Chamber?

The Crimson Room
Can you escape from the Crimson room?

The Viridian Room
Part 2 of the Crimson room