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MySQL:Insertar registro si no existe en la tabla

En realidad, no estoy sugiriendo que hagas esto, ya que el UNIQUE index como lo sugiere Piskvor y otros es una forma mucho mejor de hacerlo, pero en realidad puedes hacer lo que estabas intentando:

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;

Insertar un 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  |
+----+--------+-----------+------+

Intente insertar el mismo registro de nuevo:

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  |
+----+--------+-----------+------+

Inserte un 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  |
+----+--------+-----------+------+

Y así sucesivamente...

Actualización:

Para evitar #1060 - Duplicate column name error en caso de que dos valores sean iguales, debe nombrar las columnas del 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  |
+----+---------+-----------+------+