Yes.

To create a rule, you need to set this record at MODULE_NAME/security/security.xml.
        <record id="portal_read_own_res_partner" model="ir.rule">
            <field name="name">res_partner: read access on my partner</field>
            <field name="model_id" ref="base.model_res_partner"/>
            <field name="domain_force">[('user_ids', 'in', user.id)]</field>
            <field name="groups" eval="[(4, ref('group_portal')), (4, ref('group_anonymous'))]"/>
            <field name="perm_create" eval="False"/>
            <field name="perm_unlink" eval="False"/>
            <field name="perm_write" eval="False"/>
            <field name="global" eval="True"/>       <!-- To set a rule as global -->
        </record>

Note:
Mostly record rules are defined inside <data noupdate="1">, so as to not update the rule if modified from Odoo Web-UI.