Generally, yes. The underlying idea of the patent system is is that for a given number of years, your invention is protected, and can only be used by others with your consent. After it has expired, you can't re-patent it "as is", but you can sometimes patent a derivative (e.g. an improvement of the same base idea). A common issue is that there sometimes can be a number
of patents behind an idea, often interlinked, so it is frequently difficult to determine whether you can "use" the expired patent.