If the lip is minor then most likely yes. Chances are that the rotors were done with the pads last time if the dealer did them - they tend to do both as a matter of course
You should really pop off a wheel and measure the rotor thickness. Double check the spec but I think it's 30mm front new down to 27mm for replacement. And 20mm rear down to 17mm for replacement. But check that!

 

Personally I would never just do the pads and not have the rotors resurfaced. Like changing the oil and not the filter. I scratch my head every time I hear that