in correspondence to the live-action movies. I got this info from a the DK book Batman: The Ultimate Guide to the Dark Knight:
Batman (1989):
*DETECTIVE COMICS #27 - Batman as well as Commissioner Gordon make their debuts
http://www.comics.org/issue/442/
*DETECTIVE COMICS #31 - The Batarang is first seen
http://www.comics.org/issue/516/
*DETECTIVE COMICS #33 - The murders of Thomas and Martha Wayne are recounted
http://www.comics.org/issue/560/
*BATMAN #1 - The Joker makes his debut. Also, a Batplane that's armed with a machine gun is unveiled.
http://www.comics.org/issue/724/
*BATMAN #4 - Gotham City is first named
http://www.comics.org/issue/1207/
*DETECTIVE COMICS #48 - The first appearances of the Batmobile and Batcave
http://www.comics.org/issue/1276/
*DETECTIVE COMICS #60 - The first appearance of the Bat-Signal
http://www.comics.org/issue/2017/
*DETECTIVE COMICS #66 - Harvey Dent makes his debut
http://www.comics.org/issue/2357/
*BATMAN #16 - Alfred makes his debut
http://www.comics.org/issue/2895/
*DETECTIVE Comics #83 - Batman's underground lair is officially known as "The Bat Cave"
http://www.comics.org/issue/3407/
*BATMAN #47 - Batman tracks down the man who murdered his parents
http://www.comics.org/issue/6812/
*BATMAN #49 - Vicki Vale makes her debut
http://www.comics.org/issue/7092/
*DETECTIVE COMICS #168 - The Joker's origin is revealed
http://www.comics.org/issue/8741/
Batman Returns:
*BATMAN #1 - Catwoman/Selina Kyle makes her debut
http://www.comics.org/issue/724/
*BATMAN #3 - Catwoman first appears in costume
http://www.comics.org/issue/1039/
*BATMAN #5 - The Batmobile roars into action
http://www.comics.org/issue/1343/
*DETECTIVE COMICS #58 - Penguin makes his debut
http://www.comics.org/issue/1860/
*BATMAN #25 - The first major villain team up (Penguin and Joker rather than Penguin and Catwoman in Returns)
http://www.comics.org/issue/3931/
*BATMAN #35 - A blonde Catwoman appears
http://www.comics.org/issue/5170/
*DETECTIVE COMICS #110 - The first incarnation of the Batboat appears
http://www.comics.org/issue/5024/
*BATMAN #62 - Catwoman's origin is chronicled
http://www.comics.org/issue/8648/
Batman Forever:
*DETECTIVE COMICS #37 - Batman first dons night-vision goggles
http://www.comics.org/issue/709/
*DETECTIVE COMICS #38 - Dick Grayson makes his debut
http://www.comics.org/issue/754/
*DETECTIVE COMICS #66 - Harvey Dent as Two-Face makes his debut
http://www.comics.org/issue/2357/
*DETECTIVE COMICS #140 - Riddler makes his debut
http://www.comics.org/issue/7077/
*DETECTIVE COMICS #147 - The first appearance of the Batman's sub vehicle
http://www.comics.org/issue/7574/
*DETECTIVE COMICS #156 - A new model for the Batmobile is designed
http://www.comics.org/issue/8101/
*BATMAN #61 - The second Batplane is unveiled
http://www.comics.org/issue/8510/
*DETECTIVE COMICS #205 - The origin of the Batcave is revealed
http://www.comics.org/issue/11183/
*DETECTIVE COMICS #327 - Batman's "new look" premieres
http://www.comics.org/issue/18397/
*BATMAN #326 - Arkham Asylum is introduced
http://www.comics.org/issue/34575/
Batman & Robin
*DETECTIVE COMICS #31 - Julie Madison makes her debut
http://www.comics.org/issue/516/
*DETECTIVE COMICS #41 - Robin tries to tackle his first solo adventure but his nevertheless, aided by Batman in the end
http://www.comics.org/issue/911/
*DETECTIVE COMICS #49 - Julie Madison calls off her engagement to Bruce Wayne due to his playboy lifestyle
http://www.comics.org/issue/1325/
*DETECTIVE COMICS #50 - Robin acquires his own set of wheels (rocket powered skates instead of the Redbird motorcycle)
http://www.comics.org/issue/1375/
*BATMAN #26 - The first appearance of the Bat-Sled
http://www.comics.org/issue/4112/
*DETECTIVE COMICS #156 - Another new Batmobile design debuts after the previous one is totaled (the Riddler blow it up in Forever and the Penguin sabotaged the one in Returns)
http://www.comics.org/issue/8101/
*BATMAN #121 - Mr. Freeze makes his debut
http://www.comics.org/issue/14858/
*BATMAN #139 - A blonde haired Batgirl (the niece of Kathy "Batwoman" Kane rather than the niece of Alfred Pennyworth) debuts
http://www.comics.org/issue/16178/
*DETECTIVE COMICS #328 - Alfred is "killed off" (or almost killed off in Batman & Robin) for a short while
http://www.comics.org/issue/18452/
*DETECTIVE COMICS #356 - Alfred is restored to normalcy (being rid of McGregor's Syndrome Stage 1 in the movie) after being revealed to be the evil Outsider
http://www.comics.org/issue/20449/
*DETECTIVE COMICS #359 - Barbara Gordon (as opposed to Barbara Wilson in the movie) makes her debut as Batgirl
http://www.comics.org/issue/20693/
*BATMAN #181 - Poison Ivy makes her debut
http://www.comics.org/issue/20087/
*BATMAN: VENGEANCE OF BANE #1 - Bane makes his debut
http://www.comics.org/series/14747/
*BATMAN: MR. FREEZE - Mr. Freeze's origin is finally revealed
http://www.comics.org/series/14765/
Batman (1989):
*DETECTIVE COMICS #27 - Batman as well as Commissioner Gordon make their debuts
http://www.comics.org/issue/442/
*DETECTIVE COMICS #31 - The Batarang is first seen
http://www.comics.org/issue/516/
*DETECTIVE COMICS #33 - The murders of Thomas and Martha Wayne are recounted
http://www.comics.org/issue/560/
*BATMAN #1 - The Joker makes his debut. Also, a Batplane that's armed with a machine gun is unveiled.
http://www.comics.org/issue/724/
*BATMAN #4 - Gotham City is first named
http://www.comics.org/issue/1207/
*DETECTIVE COMICS #48 - The first appearances of the Batmobile and Batcave
http://www.comics.org/issue/1276/
*DETECTIVE COMICS #60 - The first appearance of the Bat-Signal
http://www.comics.org/issue/2017/
*DETECTIVE COMICS #66 - Harvey Dent makes his debut
http://www.comics.org/issue/2357/
*BATMAN #16 - Alfred makes his debut
http://www.comics.org/issue/2895/
*DETECTIVE Comics #83 - Batman's underground lair is officially known as "The Bat Cave"
http://www.comics.org/issue/3407/
*BATMAN #47 - Batman tracks down the man who murdered his parents
http://www.comics.org/issue/6812/
*BATMAN #49 - Vicki Vale makes her debut
http://www.comics.org/issue/7092/
*DETECTIVE COMICS #168 - The Joker's origin is revealed
http://www.comics.org/issue/8741/
Batman Returns:
*BATMAN #1 - Catwoman/Selina Kyle makes her debut
http://www.comics.org/issue/724/
*BATMAN #3 - Catwoman first appears in costume
http://www.comics.org/issue/1039/
*BATMAN #5 - The Batmobile roars into action
http://www.comics.org/issue/1343/
*DETECTIVE COMICS #58 - Penguin makes his debut
http://www.comics.org/issue/1860/
*BATMAN #25 - The first major villain team up (Penguin and Joker rather than Penguin and Catwoman in Returns)
http://www.comics.org/issue/3931/
*BATMAN #35 - A blonde Catwoman appears
http://www.comics.org/issue/5170/
*DETECTIVE COMICS #110 - The first incarnation of the Batboat appears
http://www.comics.org/issue/5024/
*BATMAN #62 - Catwoman's origin is chronicled
http://www.comics.org/issue/8648/
Batman Forever:
*DETECTIVE COMICS #37 - Batman first dons night-vision goggles
http://www.comics.org/issue/709/
*DETECTIVE COMICS #38 - Dick Grayson makes his debut
http://www.comics.org/issue/754/
*DETECTIVE COMICS #66 - Harvey Dent as Two-Face makes his debut
http://www.comics.org/issue/2357/
*DETECTIVE COMICS #140 - Riddler makes his debut
http://www.comics.org/issue/7077/
*DETECTIVE COMICS #147 - The first appearance of the Batman's sub vehicle
http://www.comics.org/issue/7574/
*DETECTIVE COMICS #156 - A new model for the Batmobile is designed
http://www.comics.org/issue/8101/
*BATMAN #61 - The second Batplane is unveiled
http://www.comics.org/issue/8510/
*DETECTIVE COMICS #205 - The origin of the Batcave is revealed
http://www.comics.org/issue/11183/
*DETECTIVE COMICS #327 - Batman's "new look" premieres
http://www.comics.org/issue/18397/
*BATMAN #326 - Arkham Asylum is introduced
http://www.comics.org/issue/34575/
Batman & Robin
*DETECTIVE COMICS #31 - Julie Madison makes her debut
http://www.comics.org/issue/516/
*DETECTIVE COMICS #41 - Robin tries to tackle his first solo adventure but his nevertheless, aided by Batman in the end
http://www.comics.org/issue/911/
*DETECTIVE COMICS #49 - Julie Madison calls off her engagement to Bruce Wayne due to his playboy lifestyle
http://www.comics.org/issue/1325/
*DETECTIVE COMICS #50 - Robin acquires his own set of wheels (rocket powered skates instead of the Redbird motorcycle)
http://www.comics.org/issue/1375/
*BATMAN #26 - The first appearance of the Bat-Sled
http://www.comics.org/issue/4112/
*DETECTIVE COMICS #156 - Another new Batmobile design debuts after the previous one is totaled (the Riddler blow it up in Forever and the Penguin sabotaged the one in Returns)
http://www.comics.org/issue/8101/
*BATMAN #121 - Mr. Freeze makes his debut
http://www.comics.org/issue/14858/
*BATMAN #139 - A blonde haired Batgirl (the niece of Kathy "Batwoman" Kane rather than the niece of Alfred Pennyworth) debuts
http://www.comics.org/issue/16178/
*DETECTIVE COMICS #328 - Alfred is "killed off" (or almost killed off in Batman & Robin) for a short while
http://www.comics.org/issue/18452/
*DETECTIVE COMICS #356 - Alfred is restored to normalcy (being rid of McGregor's Syndrome Stage 1 in the movie) after being revealed to be the evil Outsider
http://www.comics.org/issue/20449/
*DETECTIVE COMICS #359 - Barbara Gordon (as opposed to Barbara Wilson in the movie) makes her debut as Batgirl
http://www.comics.org/issue/20693/
*BATMAN #181 - Poison Ivy makes her debut
http://www.comics.org/issue/20087/
*BATMAN: VENGEANCE OF BANE #1 - Bane makes his debut
http://www.comics.org/series/14747/
*BATMAN: MR. FREEZE - Mr. Freeze's origin is finally revealed
http://www.comics.org/series/14765/
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