Jim C. Hines has a series of lbooks that center on Goblins. I've been meaning to read them but haven't gotten to them yet (I'll admit that the cover art makes them look a bit too cute for me), but they're fairly popular.
Mary Gentle has a book called Grunts, which is a satirical take on the LoTR tropes, with a group of orcs as the central characters.
I don't know about more serious novels, but of course the whole Warcraft world has orcs who are cast as sympathetic characters (for those of us who played the Horde, anyway), and there are a series of tie-in novels, many of which center on orc characters. These aren't Tolkien-style orcs, of course, as they have free will and a moral compass.
I suspect there are others, since we live in times when deconstructions of popular tropes and darker fantasy themes have become quite popular.