The short answer is no. In the past, Kubernetes included a bridge called dockershim, which enabled Docker to work with CRI. From v1.20 onwards, dockershim will not be maintained, meaning that Docker is now deprecated in Kubernetes. Kubernetes currently plans to remove support for Docker entirely in a future version, probably v1.22.
However, Docker images will continue to work in Kubernetes, because they are based on the OCI image specification.