If they died, they're dead forever. Most important NPCs don't die though. A feature I'm not very fond of. Personally, as an extremely powerful Stormcloak Warrior I'd like to just waltz around Legion camps / cities and slaughter everybody, but half of them won't die.
There is an easy way to enable killing everyone.
Add this in your skyrim.ini:
[GamePlay]
bEssentialTakeNoDamage=0