The best theory I've heard (which applies mostly to A New Hope) is that they were under orders to miss but put up a good show because most of the film the Empire is tracking the rebels trying to find where their Death Star plans went.
Also when shooting at Jedi, the Jedi have sort of a Force based shield that is activated subconsciously which makes it harder for them to be hit (in much of the other TV and movies you see them using their light sabers as bats to bat back blaster bolts pretty easily)






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