Not only is it possible, but that's how it happens. Earth formed with no water--the impact events during it's formation were too energetic for it to retain any primordial water. Earth's water supply came from cometary impacts.
Thus to get a planet with basically no water you need a cataclysmic impact event after most of the debris has been swept up. Something perturbs the orbit of a planet or dwarf planet enough to cause an impact event. The water boils off. Note that this takes out the atmosphere, also.
If you want life on the world you'll need some more impacts to bring in some water but you can decide how many (by how late in the formation of the planetary system the late impact event happened) and thus how much water and atmosphere.
If you'll accept another approach to the world you're after, simply take a warm planet. Earth is not big enough to retain hydrogen--water vapor that gets high enough in the atmosphere to be disassociated results in hydrogen leaking away. This is a very slow process on Earth because the stratosphere is cold enough that only a trickle of water can make it through.
If the atmosphere were warmer (look at the projections of Earth's very long term future) this gate gets opened wider and the ocean slowly bleeds away to space. With a warm atmosphere this process would be basically complete in far less time than the Earth's age.