Yes it is POSSIBLE for a dog to break a tooth on an antler. Some are harder chewers than other. I know dogs who have worn their teeth to nubs on tennis balls! (mostly Goldens and GSD's)
OTOH, dogs need a way to satisfy their natural urge to chew or they are likely to be destructive. Bully sticks may sound like the ideal answer, but they aren't without problems either. There HAVE been cases of dogs chipping teeth on those too, and they can carry unwanted bacteria. They are also quite high in calories, and some dogs consume them quickly. Finally, if you have a beef intolerant dog like Kodi, they are off the menu for everyone in the family. (the others would leave them around for him to steal)
Himalaya Chews (a very hard cheese made of mostly yaks milk) are similar in problems to the bully sticks, though I've never heard of a bacterial problem with them.
My guys don't have much interest in the harder antlers, like deer or elk. Their favorites, by far, are the flavored moose slices from Acadia Antlers. these are boiled in flavor, so are softer then plain antlers, and because they are sliced, it's easier for small dogs to get at the tasty inner part of the antler. Is it possible that they could crack a tooth on one? Probably. Has it happened in our house? No, over 7 years of using them. They ARE soft enough to be consumable... they get smaller over time, and I replace them before they get dangerously small. To me, if the dog can soften and grind material off the antler, it is unlikely to be hard enough to hurt them.
YMMV, but these have been, for me, the most satisfactory chews. They like them, they are low (or no) calorie, they last a LONG time, no one has gotten hurt chewing them and none of my dogs has a food sensitivity to them.