Yes.
Organizations with existing Active Directory implementations can benefit from some of the functionality provided by Azure Active Directory (Azure AD) by implementing hybrid Azure AD joined devices. These devices are joined to your on-premises Active Directory and registered with Azure Active Directory.
Refer:
https://learn.microsoft.com/en-us/azure/active-directory/hybrid/whatis-hybrid-identity
https://learn.microsoft.com/en-us/azure/active-directory/devices/concept-azure-ad-join-hybrid
https://learn.microsoft.com/en-us/answers/questions/34817/join-on-prem-computers-to-azure-ad.html
Hope this helps