No.  A motor with cogging torque will always have torque ripple when running. A motor without cogging torque (slotless or air-core motor) may still exhibit torque ripple if the phases are not balanced, (in amplitude and phase relationship), and the torque versus angle curves are not sinusoidal with low harmonic content. It can also happen if current waveforms from the driver are not well controlled sinusoids. If a six state older style motor controller/driver is used, any motor will exhibit torque ripple.