The short answer is yes, Clive is joined by numerous party members throughout his adventure. In fact, he's with party members more often than not during the main story.
However, these party members are not playable. They're controlled by the game's AI, and you don't have any say on how they operate during combat. The only party member that you have any control over is Torgal, Clive's loyal hound. You can give Torgal set commands in battle, in order to help with combos or heal Clive's minor wounds.