Yes, you can.
Over the counter medication such as paracetamol, ibuprofen, cough or allergy medication is freely permitted entry, provided it is clear the quantities do not exceed normal adult usage.
Prescription medication is dependent on the class and nature of the medication, but provided the quantity is small and is proven to be for personal use, this should not give rise to any questions.
Some prescription medicine such as morphine-based substances will ideally require a physician’s prescription.
The rule of thumb is: “if you need a doctor’s note in Europe or the Americas”, you need one here. Although chances of being searched for this are minimal.