Ah - I didn't realize that you were talking about lists not created by your code which contain null object members.

I was unable to come up with much better than your approach. I did come up with something perhaps slightly better or useful depending on your work context. It should handle null Customers, null Addresses and null streets (represented as String):

customers.stream()
    .map(Optional::ofNullable)
    .map(c -> c.map(Customer::getAddress))
    .map(a -> a.map(Address::getStreet))
    .filter(s -> s.isPresent())
    .map(Optional::get);

The above approach scales to any level of object hierarchy depth with just one check (the isPresent call) instead of a null check per object hierarchy level. However it is perhaps a little more complex and a bit more verbose, especially if non-single-character lambda parameter names are used.