Yes, you can normally use any unused tax relief from the past 3 tax years. 

This is known as 'carry forward', and means any unused annual allowance from the last 3 tax years can be added to your annual allowance for this tax year. 

Just so you know, if you earn over £240,000 you will likely be subject to the tapered annual allowance. If you're not sure, it's best to speak to a financial adviser or tax adviser.