Oh yes. There are something like 36 books in the entire series. Sword of Shannara is the first in the series, but not the first chronologically.
Twenty years after the Sword of Shannara, Brooks wrote about the events leading up to the Great War, the chemical and nuclear holocaust which resulted in the destruction of our civilization. It wasn't until later we learned the books of The Word & The Void (Running with the Demon, A Knight of the Word, and Angel Fire East) which took place in present day Illinois and the books of The Genesis of Shannara (Armageddon's Children, The Elves of Cintra and The Gypsy Morph) were part of the Shannara universe. The Genesis of Shannara also revealed that the Four Lands are the Pacific Northwest of the US and Canada.
2,000 years after the Great War, humans had mutated into Trolls, Gnomes, Dwarves, and Man, the Elves and magic (as well as druids) reappeared into the world. While it took us 20 years to learn the Shannara world is a post-apocalyptic future of our Earth, the Shannara Chronicles makes that pretty clear upfront.
The Shannara Chronicles skips The Sword of Shannara which is the first book of the Sword of Shannara Trilogy with Shea and Flick Ohmsford and goes right into The Elfstones of Shannara. Shea is half elven and was adopted by the Ohmsfords. He and Flick are very close in the books, unlike the impression we get from the series that Flick thought Shea was no good. Wil Ohmsford, as I mentioned earlier, is the grandson of Shea in the books. The final book of the Sword of Shannara Trilogy is The Wishsong of Shannara and revolves around Jair and Brin Ohmsford, the children of Wil Ohmsford and Eretria.