Yes Manmath there is. However you need to setup up some basic authorization/authentication for it to work. Peter's link is guiding you that how you can pass your object names to get this data. This way is pretty straightforward and help you build a REST API without writing any code.
The only code you will have to write is for authorization
The other way which I like is tocreate a WCF service and use Kentico Providers to fetch any data.