Yes, it is even preferable (boot partition needs some free space for future upgrades anyway). Just that first thing for myself, after brand new Linux Kernel upgrade, is: sudo systemctl reboot
After you log in again: sudo apt autoremove sudo apt clean && sudo apt autoclean sudo apt update
Your general strategy should be that your computer has at all times:
the current running kernel version (the last installed)
the previous kernel version
and you allow any earlier kernel versions to be removed.
This is particularly the case if the rate at which new kernels are arriving is low - so the current kernel version gets a fairly comprehensive test in your environment and with your usage before it is replaced.
On the other hand, it is harmless to leave old kernels around for removal later on provided that your boot partition has enough free space, as @Quarnero also mentions. So if you are going to say “no” then you should do:
df /xxx
where xxx is the correct path for your boot partition, regularly, if not automatically.