Access doesn't have the built-in feature to import from PDF, but Excel does (go to Data -> Get Data -> From file -> From PDF).  If the PDF contains tabular info, Excel can import it and retain the tabular appearance.  If the PDF is a fillable form, you need Adobe Acrobat, I'm afraid, which is a paid app.  A fillable form with a simple layout is more likely to be imported successfully than a fillable form with a complex layout (like the 1040 tax form).  I'll have some pictures to show you in a few hours to better illustrate all this.

Figure 1 below shows a PDF containing neat tabulated data, which Excel can easily import with Excel -> Data -> Get Data -> From file -> From PDF without needing any extra software.

Figure 2 shows a filled-in PDF form.  You need go into the paid app Acrobat (I use Acrobat XI here) -> Tools -> Forms -> More Form Options -> Merge Data Files into Spreadsheet.  You will get an Excel file as shown, with column headers and a row of data.  You can easily export this back to Access.  Access has the built-in feature to import from Excel.

Figure 3 shows a PDF form with a complex layout, which is too tough for Excel and Acrobat to handle.  I got no column headers, or simply gibberish data.