Varies by medical school, which subject (e.g. may be allowed for math but not chemistry), and undergraduate school policy (is AP credit listed as equivalent to a specific course?). But even when skipping is allowed, pre-meds may need to substitute a more advanced course in the same subject area.
Many pre-meds chase grades by repeating their AP credit even if allowed to take advanced placement. But that may be a problem if their college transcript shows that as a repeat.
Since some pre-med courses are commonly taken in frosh year, pre-meds may want to figure this stuff out early, before choosing frosh year courses.