Yes, you can use the assignInMyNamespace() function from the utils package. Basic template you can use:
.onLoad <- function(libname, pkgname) {
config <- parse_config_file("path/to/config.txt") # Or however you do it
assignInMyNamespace("config", config)
}
I suggest you use .onLoad instead of .onAttach. The former will also run when the package is loaded but not attached (for example, when it's imported by another package or you use pkg::obj accessing).
The assignInMyNamespace function is also good for applying a function from the package to an internal data object. R's always thrown a fit when I try it any other way.