Technically, there can be no humaniform robot without The Three Laws "hardwired" into his positronic brain, because Daneel is the only one still functioning out of fifty two ever existing. While it's true that there can be robot without Three Laws, and we know that by subverting the context of the Three Laws, like changing the definition of human being or deliberately withholding some knowledge from robots, there are ways to make robot to kill a human being. But this doesn't apply here. This is direct action by the only robot it can be, who knows what it's doing, and that it needs to abide by Laws of Robotics.
Thus, if the robot in question is the one and only Daneel/Demerzel, and it is following Zeroth Law, there may be slight possibility. It's highly unlikely though, because there was only one known Zeroth Law observance in history, and Giscard deactivated after it.
Even then, Zeroth Law would be violated in this case, because ending Clone Dynasty would avert The Fall, and humanity would NOT come to harm from it. Unless Daneel/Demerzel is following his own plan (Galaxia), but this is very dubious at best, because even if Zeroth Law would supersede First, it still can be only applied literally, as a yes/no decision gate (even if process is enormously complicated in robot's brain). That is: I don't think Daneel can here discriminate between Cleo's plan and his, quantifying possible results of each and determining one of them involves less suffering and death, to justify invoking Zeroth.
My point boils down to this: As per Daneel himself, humanity is a concept and thus is inherently uncertain, thus every time it is invoked there is enormous risk of shutdown. And, in Giskard's words:
Use the Zeroth Law, but not to justify needles harm to individuals.
The First Law is almost as important.
Which forces me to conclude that, barring other options (of which one will be genius, fantastic and will add enormously to the show, more of which below), in this case it would not be possible.
The point was made in other answer that Demerzel is a robot without the Three Laws. This may be the case for the specific plot in the series, but that automatically removes the Galaxia plot from the show, for the fact that the Laws were the reason it came about and they were embedded in the core being of Galaxia.
In addition, introducing robots, known to humanity as a matter of fact (ignoring the first core Taboo of the Empire), and humaniform ones at that, basically invalidates the reason Empire exists at all. It would still be half-sensible, if they were robots in secret, but that would also assume that someone is versed enough in positronics to reprogram any robot to remove The Laws (if my assumptions are worth anything), but that would mean that Spacers still exist as a secret Galactic political force. This would be a jaw-dropping and really cool plot twist, but depending on which Spacers would that be, it breaks badly some more story arcs down the line...
More obviously, if there are some Empire people capable of reprogramming a positronic brain, then they are more than capable of building robots, including humaniform. This in turn obviously begs the ultra-obvious question: where are the all-present robots in the Empire?
I am not disputing the quotes FuzzyBoots found, I'm rather disbelieving that someone would say so at all and pretend what the show is about is still Foundation in any way.
[Edit was made to remove argument that for positronic brain to work it needs Three Laws hardwired. It is not so, and I may have conflated the fact that just one person in history was able to build humaniform robots, which requires much more sophisticated brain (and no one else was able to re-invent his work), with something else.]