Yes you can add link in the report to open a record directly when user clicks on it. If you are creating report via report wizard in the crm Make sure, you are choosing record primary field ( FullName in case of contact ) as part of the column in the report. By default crm adds link in the Fullname field to open a record. If you have related entity columns say Company Name in contact report crm will not add link on the company name field. To add a Link follow below steps
1. Select the report on which you want to add link.Click on edit it will open new wind similar to below.
Click on Actions-> Download report.

2. Open the Visual studio Data tools and create new server project and add downloaded reprot.
3. Open the added report in design mode and select the filed where you want to add a Link.Right click and select Text Box Properties .

4.It will open pop-up , in the pop-up click on Action -> fx

5. In the fx add below expression. Replace logicalname and Field value base don your dataset field name and entity.
=IIf(IsNothing(Fields!contactid.Value), Nothing, String.Format(System.Globalization.CultureInfo.InvariantCulture, "{0}?ID={1}&LogicalName={2}",
Parameters!CRM_URL.Value, Fields!parentcustomeridValue.Value, "account"))
If you don't have visual studio and if you can edit xml without making any mistake you can follow below steps to add link to the field in the report.
1. Open the downloaded rdl file in any text editor and find the field where you want to add link.

2. Replace the Hyperlink under Action tag with below expression.Replace entityname and fieldname in the expression.
<Hyperlink>=IIf(IsNothing(Fields!contactid.Value), Nothing, String.Format(System.Globalization.CultureInfo.InvariantCulture, "{0}?ID={1}&LogicalName={2}",
Parameters!CRM_URL.Value, Fields!parentcustomeridValue.Value, "account"))</Hyperlink>