Here is an excerpt from the reference manual that I hope answers your question. (The short answers is yes.)
24.5.7.6. Zend_Rest_Route The Zend_Rest component contains a RESTful route for Zend_Controller_Router_Rewrite. This route offers a
standardized routing scheme that routes requests by translating the
HTTP method and the URI to a module, controller, and action. The table
below provides an overview of how request methods and URI's are
routed.
Table 24.1. Zend_Rest_Route Behavior
Method URI Module_Controller::action
GET /product/ratings/ Product_RatingsController::indexAction()
GET /product/ratings/:id Product_RatingsController::getAction()
POST /product/ratings Product_RatingsController::postAction()
PUT /product/ratings/:id Product_RatingsController::putAction()
DELETE /product/ratings/:id Product_RatingsController::deleteAction()
POST /product/ratings/:id?_method=PUT Product_RatingsController::putAction()
POST /product/ratings/:id?_method=DELETE Product_RatingsController::deleteAction()
and from the Zend_Rest_Client API
restDelete( string $path, $data = null ) : \Zend_Http_Response
Performs an HTTP DELETE request to $path.
restGet( string $path, array $query = null ) : \Zend_Http_Response
Performs an HTTP GET request to the $path.
restPost( string $path, mixed $data = null ) : \Zend_Http_Response
Performs an HTTP POST request to $path.
restPut( string $path, mixed $data = null ) : \Zend_Http_Response
Performs an HTTP PUT request to $path.