Formal:
* Departed
* Fled
* Escaped
* Abscounded
* Made off
* Took flight
Informal:
* Scooted
* Hightailed it
* Beat it
* Took off
* Got out of there
* Made a run for it
Humorous:
* Took the powder (an old-fashioned term)
* Made a hasty retreat
* Did a runner
* Hit the road
* Got outta dodge
The best synonym will depend on the specific situation and your intended meaning.