Yes, Its work easily.
Move all admin controllers to Admin namespace then add following code to your application bootstrap:
// Loader, registering namespaces
$loader = new Phalcon\Loader();
$loader->registerNamespaces(array(
'Admin' => YOUR_APP_PATH . '/controllers/admin',
));
$loader->register();
and add these lines to your router settings:
$admin = new \Phalcon\Mvc\Router\Group(array(
'namespace' => 'admin',
'controller' => 'index',
'action' => 'index'
));
$panel->setPrefix('/panel');
$router->add('/admin(/:controller(/:action(/:params)?)?)?', array(
'namespace' => 'admin',
'controller' => 2,
'action' => 4,
'params' => 6,
))->setName('admin');
$router->mount($admin);
return $router;