Fix bent frame from improper jacking?
 

So my 87 RX-7 was jacked up improperly and the frames are bent upwards. Is it possible to fix the damage? How much would this typically cost?

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Welcome to the RX7club. Sorry to see that the rails are bent. If it makes you feel any better, yours are in much better shape than mine are.

I've heard that they can be pulled back into shape, but not seen it firsthand. Most people I know just use the tire changing jack rail, with a specialized "pad" at each corner to prevent crushing the lip. The pads are just a block of steel with a slot to fit onto the rail.

As these issues are relatively common on FCs, you might wish to search the Second Generation section for examples and resolutions. It's been awhile since I've looked, so you just might find a better answer than I have so far.

I got worse than that too,but seeing I do not see it and the car is not worth putting 1K of metal and labour into it I just live with it.
My trick to jacking the car in those rails is a piece of 2x4 about 14 inches long.It distributes the weight.

This why you ALWAYS lift from the subframe mounting points

Off hand, I see supporting the car as broadly and completely as possible. Maybe weld in some bracing. Then a cutting wheel to remove the outer horizontal section, straighten the verticals and re-weld with reinforcements. Then remove any bracing.
But honestly, if your doors and other panels fit properly I think Misterstyx has the right idea.

Thanks for all the responses. I guess I'll leave it alone for now because it doesn't seem to be affecting anything else, just a cosmetic issue. I'll eventually want to fix it if possible, so if anyone else has any opinions or advise, please chime in :)

If it doesn't affect anything you could "just cover it up" with some angle steel,and make a new "outer rail" for that area.
It's a common mistake made by guys that have this series of car.Thinking they can jack up the car on points not meant to hold 3 thousand pounds on 6 inch floor jack surface..(that is why the cars have Specific jacking points.but you know that..!)

I know you are new so I will just add that really you can let it slide while you enjoy what you got.
There is SO much you can do with these cars it becomes like a giant Wish List at Christmas..Try to be Sensable in your endeavour as it can take a average bank account into the Negative just because someone had "that done" and you HAD TO have it~!!
If you can separate the Necessary from the "maybe later" parts,then Trust me,you will Thank me!