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MySQL:Inserir registro se não existir na tabela


Na verdade, não estou sugerindo que você faça isso, pois o UNIQUE índice conforme sugerido por Piskvor e outros é uma maneira muito melhor de fazer isso, mas você pode realmente fazer o que estava tentando:
CREATE TABLE `table_listnames` (
  `id` int(11) NOT NULL auto_increment,
  `name` varchar(255) NOT NULL,
  `address` varchar(255) NOT NULL,
  `tele` varchar(255) NOT NULL,
  PRIMARY KEY  (`id`)
) ENGINE=InnoDB;

Insira um registro:
INSERT INTO table_listnames (name, address, tele)
SELECT * FROM (SELECT 'Rupert', 'Somewhere', '022') AS tmp
WHERE NOT EXISTS (
    SELECT name FROM table_listnames WHERE name = 'Rupert'
) LIMIT 1;

Query OK, 1 row affected (0.00 sec)
Records: 1  Duplicates: 0  Warnings: 0

SELECT * FROM `table_listnames`;

+----+--------+-----------+------+
| id | name   | address   | tele |
+----+--------+-----------+------+
|  1 | Rupert | Somewhere | 022  |
+----+--------+-----------+------+

Tente inserir o mesmo registro novamente:
INSERT INTO table_listnames (name, address, tele)
SELECT * FROM (SELECT 'Rupert', 'Somewhere', '022') AS tmp
WHERE NOT EXISTS (
    SELECT name FROM table_listnames WHERE name = 'Rupert'
) LIMIT 1;

Query OK, 0 rows affected (0.00 sec)
Records: 0  Duplicates: 0  Warnings: 0

+----+--------+-----------+------+
| id | name   | address   | tele |
+----+--------+-----------+------+
|  1 | Rupert | Somewhere | 022  |
+----+--------+-----------+------+

Insira um registro diferente:
INSERT INTO table_listnames (name, address, tele)
SELECT * FROM (SELECT 'John', 'Doe', '022') AS tmp
WHERE NOT EXISTS (
    SELECT name FROM table_listnames WHERE name = 'John'
) LIMIT 1;

Query OK, 1 row affected (0.00 sec)
Records: 1  Duplicates: 0  Warnings: 0

SELECT * FROM `table_listnames`;

+----+--------+-----------+------+
| id | name   | address   | tele |
+----+--------+-----------+------+
|  1 | Rupert | Somewhere | 022  |
|  2 | John   | Doe       | 022  |
+----+--------+-----------+------+

E assim por diante...

Atualizar:

Para evitar #1060 - Duplicate column name erro no caso de dois valores serem iguais, você deve nomear as colunas do SELECT interno:
INSERT INTO table_listnames (name, address, tele)
SELECT * FROM (SELECT 'Unknown' AS name, 'Unknown' AS address, '022' AS tele) AS tmp
WHERE NOT EXISTS (
    SELECT name FROM table_listnames WHERE name = 'Rupert'
) LIMIT 1;

Query OK, 1 row affected (0.00 sec)
Records: 1  Duplicates: 0  Warnings: 0

SELECT * FROM `table_listnames`;

+----+---------+-----------+------+
| id | name    | address   | tele |
+----+---------+-----------+------+
|  1 | Rupert  | Somewhere | 022  |
|  2 | John    | Doe       | 022  |
|  3 | Unknown | Unknown   | 022  |
+----+---------+-----------+------+