Yes you can.
You can transfer an expired domain name if it is still in the registrars Redemption Grace Period (RGP). The Internet Corporation for Assigned Names and Numbers (ICANN) requires that registries allow a 30 day RGP. Once passed this period it enters a Redemption Hold Period (RHP) which lasts for 5 days during which time the name is locked and can't be renewed - read more
UK domains have a similar grace period of 30 days but are then suspended for a further 60 days before being cancelled. It is possible to renew within this 90 day period - read more
If you are transferring a domain during the grace periods you can either:
You can transfer your domain name at anytime and although it is a fairly instant process it can take a number of days to complete especially if you have not got all the information to hand or the transaction is flagged (e.g. fraud). We would recommend any transfer takes place at least 7 days before your renewal date so that any issues do not affect your domain name, email or website.