You would need a backup copy of the places.sqlite database file.

If you use the Time Machine then try to restore file(s) from that backup.

• http://www.apple.com/support/timemachine/

You can use this button to go to the current Firefox profile folder:

• Help -> Troubleshooting Information -> Profile Directory:
  Windows: Show Folder; Linux: Open Directory; Mac: Show in Finder
• http://kb.mozillazine.org/Profile_folder_-_Firefox

These can't get your data back, but will help in the future.

These add-ons can be a great help by backing up and restoring Firefox

FEBE (Firefox Environment Backup Extension) {web link} FEBE allows you to quickly and easily backup your Firefox extensions, history, passwords, and more. In fact, it goes beyond just backing up -- It will actually rebuild your saved files individually into installable .xpi files. It will also make backups of files that you choose.

OPIE {web link} Import/Export extension preferences