I want to redirect 
www.domain.com/images/Apple.jpg
to
www.domain.com/Apple.html
Assuming you have mod_rewrite enabled in your Apache:
RewriteEngine On
RewriteBase /
RewriteRule ^images/([^\.]+)\.(jpe?g|png) /$1.html  [QSA,L]
Edit: as noticed by Wh1T3h4Ck5, QSA (Query String Append) flag would be optional, as well as L (Last) would depend on the context and other rules present. Please, read about RewriteRule flags for more information. 
To clarify: this solution assumes that an HTML document with the name of the image already exists. Something like:
<html>
    <head>
        <title>Apple</title>
    </head>
    <body>
        <img src="images/Apple.jpg" alt="Apple">
    </body>
</html>
This is not an optimal solution for a large number of images, but it seemed to fit OP's case.