No, syslogd doesn't support any encryption so if you want to secure that data you'd need to set up a VPN of some sort. You might be able to pull this off using sysutils/syslog-ng but I really can't say for sure.
* receive and send RFC3164 and RFC5424 style syslog messages
* work with any kind of unstructured data
* receive and send JSON formatted messages
* classify and structure logs with builtin parsers (csv-parser(),
* normalize, crunch and process logs as they flow through the system
* hand on messages for further processing using message queues (like
AMQP), files or databases (like PostgreSQL or MongoDB).
Which doesn't mention a secure connection. However... Most database servers do support this option, so it might be even more efficient to start logging to a remote database.
Take a look at NXLog, it does support SSL/TLS secured TCP connections. Unfortunately there is no port of it yet at the ports tree but that shouldn't be too hard to create considering NXLog are already providing a binary package of the enterprise edition.