If the car battery has just drained and gone dead and has not went bad enough to where it has a dead cell in the car battery then yes you can jump a completely dead battery as long as you get it jumped soon enough.
The longer you let a completely dead battery sit in the discharged state the less chance you have of getting the battery charged back up or jumped to where you can start your car again.
I have had batteries in vehicles before where the inside light would not even come on and after hooking Jumper cables up to the cars battery and waiting about 10 minutes the battery charged up enough to where the car would start.
Still then if the battery is going dead it's a good idea to replace the car battery especially if it's been 5 or 6 years since you replaced your car battery.
There's no guarantee that you will be able to get the completely dead battery jumped or charged up to where you can start the car but as long as the car battery doesn't have any dead cells in it then it should take some charge to be able to start the vehicle.