Yes I do this often with FoxIt PDF Reader (not sure if other readers have the same) It depending on how the PDF was created. If it was done from a scan then no. If it was created from within an app then yes.
The quickest is to just copy and paste. Works well where the data is only a page or two. If it dumps it in a single column then you need to use formulas to split the data. Or copy and paste the data to a text file and use the option below.
You can save a PDF to a text file. Then you open the text file from within Excel and follow the steps in the text import wizard.
I just did a quick test and copy & paste a table from a PDF to excel kept the table intact. This uping FoxIt