Yes. A criminal defense attorney may be described in many different ways, including criminal attorney, criminal defense attorney, defense lawyer, defense attorney, and criminal defense lawyer. They are all just different ways of describing an attorney who represents people who have been charged with crimes.
You may also hear the term “defense attorney” used to describe someone who is on the defending side of other types of cases, such as a lawyer who represents insurance companies defending against claims from people injured in car accidents. But, in the context of the criminal justice system, all of these terms describe the same role.