Well.... I truly do not see the big problem here.
As stated, at least under 1e rules (still not well versed in 3.5), the chances of a mis-teleportation were big. They were never nil.
As far as 'familiar', this means you must be truly familiar with it. Having romped around in a dungeon, teleporting out is fine, but you can't simply teleport back. Expecially since you do not know whether the dungeon denizens have moved around the furniture, whatever since last you were there, it cannot be counted as familiar. Thus, though as a last resort, a teleport out could be used, this simply means you start from scratch, with the dungeon denizens alerted...
In all my campaigns, TP was never used for anything but a last resort escape when everything went crapside, mainly because the players were much too afraid to make a TP mishap, from which a simple raise dead did not work (your body is pretty much destroyed if you TP inside a rock, so a RD will result only in you dying again, only a true resurrect would work...)
So, without ever tinkering with the rules, simply adhering to them strictly and ruling on the safe side on the familiarity thing (safe for the DM that is, on the dangerous side for the PC's), there was never any abuse of the spell.
Furthermore, with other powerful 5th level spells available, TP was often not even one of the spells a wizard would have in his/her 'learned' list anyhoo. Cones of Cold and other such spells were needed alot more for Mook Control before even being able to get to / fight the BBEG...
I am just curious how come the spell is so overused in some campaigns, is this because you rule that having seen someplace once or twice means the highest familiarity level is applied wrt miss-chance?? Then this is the fault of the DM, not the spell itself. You ALLOW misuse.