Hi Marco,
I think it is possible.
I found a sample before from Microsoft, you can try to download its sample in Social Care Application Sample:
http://www.microsoft.com/en-us/download/confirmation.aspx?id=43122
or
http://go.microsoft.com/fwlink/?LinkId=396802
And here is the article:
https://msdn.microsoft.com/en-us/library/dn744885(v=crm.6).aspx
Open the file, install it, will install code files with folders and there is an example inside the CRMConnect.cs file

And you can find example while in the code the objective is to retrieve Contact, Case, Social Profile, Queue, Convert Case Rule, etc.

So, based on the snippet here:
// Build and send the HTTP request.
// Build and send the HTTP request.
string url = _serviceUrl + "ContactSet" + "?$select=FirstName,LastName,FullName,EMailAddress1,Telephone1,Address1_Country,ParentCustomerId,ContactId";
if (searchStr.Length > 0)
{
url = url + "&$filter=substringof('" + searchStr + "',FullName)";
}
That is to retrieve contact by Name, retrieving contact columns including Contact id (guid) as well.
I can conclude that this is possible, you can see we can do Query like we did usually in OData query in javascript CRM form.
But it is little bit confused if using CRM Online because you need ODataAPI and ODataAuth
Authentication and the OData API
This sample uses the CRM OData endpoint. Since the sample application is a separate application (and not a web resource within CRM), it needs to authenticate explicitly against the OData endpoint. The sample app can use regular domain credentials to talk to the on-premises CRM server. For working against Microsoft Dynamics CRM Online and Internet-facing deployments (IFDs) of CRM, the sample app uses OAuth for authentication.
I think the challenge here is to make the authentication, last time I posted in my blog the tutorial to run this apps, but most of people have trouble in the authentication and cannot make connect to CRM, while last time I tried, it was not too difficult, but there was a little bit chance in the ODataAuth which you need to authenticate against Azure as well, this one I am not sure, if you found it worked you can share it out and let me know, how to authenticate it better.
If you are OnPremise User without IFD, this is very easy in term of authentication, I think you can learn from that framework, if CRM Online, actually I never try it again since the new authentication applied. If you found it worked, let me know, how to do that, okay.
But answering your question, yes there is, because I saw the example there.
Hope this helps you.
Thank you.