The short answer is no.
The long answer is maybe. It depends on the filesystem. It depends on the amount of data. It depends on how recognizable the files are. And, most importantly, it depends on whether or not the actual areas of the disk that contained the information that you accidentally deleted have been overwritten.
How to do this is rather outside of the scope of a StackOverflow answer. I would suggest bringing this to a professional if you care about retrieving your data. Until then, do not mount the drive read write and if it's ext3 or 4 mount it through a loopback device to prevent journal writes.