Basically, yes, at least for digitigrade legs. There's some minor differences in the actual anatomy, but for drawing purposes, you pretty much would just draw a paw instead of a hoof at the end, because they're very very similar. This is a really good tutorial for digitigrade characters, and this has some excellent notes about them! (The second one mostly has to do with balancing a character out and making them look more realistic instead of awkward.)

(As for plantigrade legs, well, those are a bit more drastically different, but I'm sure better artists have tutorials for them. X3 DeviantART actually has a lot of good tutorials, so I suggest searching around to see if you can find someone who has better/more in-depth ones! Especially since I'm not exactly an anatomy expert, here. )