Probably... you don't give your router model, however most "routers" are actually three devices in one. A gateway (to connect networks), a switch (to switch traffic between devices), and a bridge (to connect LAN and WLAN networks).
In your case, you can just use the downstream router (your access point) as a switch and bridge, however you'll want to disable the router function of that downstream router. Depending on your model, this may be an explicit "router function" button to check/uncheck, or it may be that you need to turn off DHCP functionality directly.