Unless you've got them backed up on your PC you're pretty much out of luck. I've heard of some software that works for Motorola phones but I can't recall the name of the software....
Have you check with Verizon? When I moved from Verizon to AT&T, the CS people at the store transferred the contacts from my Verizon phone to my AT&T phone.
Use Motorola Phone tools to get your contacts into a CSV or vcard file. From there you can import the file into gmail. Since the Droid syncs with gmail your contacts will load into the Droid.
