I have cable to all of the TV's in my house, but I do not have the digital cable boxes. Is there another way of getting HD programming without paying extra for the cable boxes?

Thank you in advance!

"Off the Air"???

Yeah, your options are with an antenna, or if any of your TVs have a QAM tuner, hook it up to the cable and scan it, seeing if there is anything "in the clear." Probably just your local HD channels.

If any are encrypted, you'll need a cablecard or cable box. No real way around that.

Or make sure your televisions have CableCARD slots, and rent CableCARDs from the cable company.