Yes, there is:

1. When you go to your Dashboard app, go to Configurations => Dashboards.

2. From there you can select your desired Dashboard report that you want to limit the visibility for.

3. You can either toggle the Is Publish toggle to make it visible for everyone or not.

4. Or click on Edit and publish it form the Spreadsheet.

5. You can also share a link to specific people for a frozen report.