Yes. As long as the concrete has "set" it is safe to walk on, it sets within 24 hours. Concrete hardens by a chemical reaction, not by drying, so it hardens fairly quickly.
I would recommend waiting at least 24 hours before foot traffic if. I woul wait at least 7-10 days for auto traffic. Concrete only reaches 85% of its strength in 28 days. The rest of its strength is acheived within one year. Concrete in the hoover dam is said to still be curing
