The second half of Crafting Interpreters [0] does this—rather than outputting the AST, the bytecode interpreter outputs bytecode directly. Essentially, the process of creating the AST is already very similar to the tree traversal you'll do to unpack it (recursive descent parsing is a traversal of the tree, just in the call stack rather than over a real data structure), so if you don't need the AST you can skip it and just start outputting bytecode as if you were already walking the tree.

[0] http://craftinginterpreters.com/