Yes, you can remove pages using qpdf.

qpdf input.pdf --pages . 1,3-r1 -- output.pdf should remove only the second page.

qpdf input.pdf --pages . 1-3,8-r1 -- output.pdf should remove pages 4-7, inclusively, from the input pdf.

The r1 in the page range specifies a number of pages from the end of the document. See page-ranges for more information.

Of course, page selection is more powerful than simply having the ability to remove pages from a document (what I use it most for). Page selection allows merging different ranges from different PDFs as well. See page-selection.

See https://askubuntu.com/a/672001.