TL;DR: With enough bombardment by space-rocks, all sorts of landforms are possible. Moreover, asteroid bombardment is clearly possible for all objects in space, which avoids any issues that might arise from lack of water preventing plate tectonics and interfering with nonvolcanic orogeny.
Here's a slice of the moon's surface, a little to the north-east of the moon's highest mountain, Mons Huygens. This range is also known as the Montes Appeninus. It has a pleasingly mountainous and broken look, at least from here.
![Montes Appeninus synthetic view showing terrain shading and 500m contour lines.](https://cdn.statically.io/img/i.sstatic.net/uwdoD.png)
(Lunar Quickmap, using public domain NASA LRO/LROC data
Mons Hadley, in the upper-middle portion of the map, has a peak about 4.5km above the plain to its north and west. As luck would have it, Apollo 15 even took a nice photograph:
![Jim Irwin with a lunar rover with Mons Hadley in the background](https://cdn.statically.io/img/i.sstatic.net/I3RQi.jpg)
(image courtesy of NASA and David Scott, via wikimedia)
So there you go: mountain, of a sort. It may have started as a crater rim, but Mare Imbrium formed something like 4 billion years ago and subsequent smaller impacts and falls of regolith produce something a lot more mountain rangey than the scarps you're thinking of. The fine layer of dusty regolith rounds everything off quite a lot, but I suspect that even a thin atmosphere with a bit of a breeze would shift the finest stuff and leave a more rugged landscape, if that's what you were after.
Valleys are a little more challenging, as they really require some fluid moving under the influence of gravity. Even then, the Moon has some good examples and near to Mons Hadley you can find Rima Hadley, a sinuous rille thought to have formed from a lava flow or collapsed lava tube:
![Rima Hadley](https://cdn.statically.io/img/i.sstatic.net/FmH8G.png)
(image credit NASA via wikimedia)
It is a few tens of kilometres long, and hundreds of metres deep in places. This sort of thing is probably the most valley-like formation you're likely to get without surface ice or water.