Yes, but only if all assets are transferred to a living trust, revocable trust, or irrevocable trust.
Another situation may be that you have no real property and all other assets are arranged with appropriate transfer-upon-death documents prior to your death. You should still have a will prepared by an attorney that lists how you desire your property to be left, and consistent with how you have arranged your transfer upon death documents.
Your estate planning depends on your individual situation and the extent and value of your property.