That was part of the development of the Shuttle. The main fuel tank burned up, but the twin rockets were recovered and reused, as well as the Shuttle itself.

There was some thought about utilizing the fuel tank rather than letting it burn, but they stopped that line of investigation when they announced the phased retirement of the shuttle program.

We also have on the drawing boards (I'm not sure how far along it was) a new heavy lift rocket, but that also has mostly been shelved because of budgets and private rocket companies. The SLS is a beast, and -unfortunately- "expendable". I think the "boosters" are reusable, as with the old shuttle. If it gets funded further, they would probably be able to put some thought into reusing the main section in some manner*.



*Most of what I've read involves using the discarded sections in space, rather than trying to control reentry and recovering/using them on the ground. The controlled reentry is out of 1950s sci-fi, and SpaceX has made it work...most of the time. They also don't do really heavy lift yet, like SLS.