Of course! He was a very lean and agile man with lots of strength and endurance.
Considering his skills in fencing, it was not at all anything difficult for him to jump across and over walls or from parapets and sunshades to ground. In The Hound Of The Baskervilles, how he crosses and recrosses the deadly, sucking, oozing marsh at the dead of night alone is significant of his martial, mental and physical capabilities. However it should be noted that as a detective of shrewd observation, logic, deduction and diagnosis, he would not jump to conclusions.