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Not anymore. Re-entry = BBQ Kerbal.
Thought that would be the case with the physics overhaul.
I haven't checked post 1.03, but you used to be able to bring them back from orbit, quite easily, without the protection of a capsule. I've heard elsewhere that they burn up now though. Just been to busy to try it for myself.
In the early days of Career mode, when it was just science, people would put a capsule in orbit of Minmus then deorbit the Kebal, do all the sciencey things, then rendevous with the capsule on the next orbit. Using this method they were able to continually refuel the jet pack at no cost and it is possible to hit every Minmus biome, assuming you have the intestinal fortitude to do something so tedious.
There's no real reason why this won't work today.
As far as falling down on Kerbin...I don't think it has to do with the jetpack. On Kerbin the jetpack has exactly 0 Delta-V because it is unable to lift the kerbal even a centimeter off the ground. It is likely your Kerbal survived because they landed on their helmet. The helmet is made out of flubber, apparently--seriously, land on the helmet and they can survive practically anything provided they didn't burn up.
Someone really needs to make a mod that adds a frozen over mass relay in orbit around Eeloo.
Still, as far as Minmus goes, you can build a rover with a Gigantor solar panel and a ion thruster and cover the bulk of Minmus with a little Xenon. Since Minmus had such low gravity you can scoot along the ground on wheel (or fly) from place to place.