Yes. Please see the following instructions.
First-year applicants: First-year applicants applying through Common App should email firstname.lastname@example.org to inquire about fee waiver options.
Transfer applicants: Transfer applicants applying through Common App will see a question in the Penn-specific program materials section that asks, "Have you served, or are you currently serving in the US Armed Forces?" By answering yes to that question, your application fee will be waived.
First-year and transfer applicants applying through the Coalition Application can use the Coalition Application's Armed Forces Fee Waiver to have their application fee waived. You can find more information here.