Yes, it's only about an hour out of Tokyo. And if you go on a weekend, you'll find student Good Will Guides waiting at the entrance to the station offering to show you around as an opportunity to practice English. (They're volunteers, so it's a nice gesture to buy them lunch, but they don't charge you anything.)

(I have Japanese friends who live in Kamakura, so I don't need the Good Will Guides, but I have encountered them on several visits.)