Yes, on your federal tax return, you can deduct the Registration Tax you paid on your vehicles as part of your itemized expenses.
Here are instructions from MN Revenue as to how to determine the amount you can deduct.
The deduction is allowed only for passenger automobiles, pickup trucks, and vans. Subtract $35 from the registration tax paid for each vehicle you own, and include the total on line 7 of Schedule A (of your federal form). Other amounts such as plate fees and filing fees are not deductible and cannot be used as itemized deductions.
http://www.revenue.state.mn.us/individuals/individ_income/pages/deducting_vehicle_license_fees.aspx