Yes, it's normal for the lower fronds to yellow and then dry to brown as the palm puts out newer growth at the top.
As the lower dead fronds develop in numbers and form a dry heavy "skirt", you can choose to let them stay for a natural look, like the native California fan palms in Palm Canyon up the road from you in Palm Springs. Or you can prune them off or have a tree service do it, for a cleaner look.
If you think the yellowing is excessive, and it involves the fronds midway up into the foliar crown it could be due to a nutritional deficiency. Using a palm fertilizer and at least once or twice a month deep watering is a good idea.