Yes, the branes of string theory are all reflected already in the underlying low-energy supergravity theories as "[black branes](http://ncatlab.org/nlab/show/black%20brane)" and particularly as the extremal black branes, the _[BPS solutions](http://ncatlab.org/nlab/show/BPS%20state)_ to the sugra equations of motion.

A much-cited lecture note on this is

* Kellogg Stelle, _BPS Branes in Supergravity_ ([arXiv:hep-th/9803116](http://arxiv.org/abs/hep-th/9803116))

where for instance figure 6 on p.43 shows the [brane scan](http://ncatlab.org/nlab/show/brane+scan) of supergravity brane solutions.

But I'd recommend looking at some more recent reviews/discussions such as listed behind the above links. For instance

* Andrew Callister, Douglas Smith, _Topological BPS charges in 10 and 11-dimensional supergravity_, Phys. Rev. D78:065042,2008 ([arXiv:0712.3235](http://arxiv.org/abs/0712.3235))

discusses the D-branes of type II strings as BPS solutions of type II SuGra (sections 3 and 4) and make some comments on the relation to the DBI worldvolume action.