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Nope. If Miranda is loyal then I believe it is virtually impossible for her do die in the suicide mission. If you are playing the PC version of the game, then google around for a Mass Effect 2 editor.
As for other characters that are not essential and can be killed off in ME2, the likely consequence is that you not be offered related side missions:
Katsumi
Zaeed
Jacob
Other characters that can be killed off, but generally should not affect the overall storyline
Legion - There is another geth that will fulfill it's role in ME3.
Mordin - Replaced by another Salarian
Jack - No substitute for the mission where she is supposed to appear in
Samara - I haven't played a game with her dead, but there is likely no substitute in the mission she is supposed to appear in.
