Absolutely. In QGIS open the Python Console and add it like this:
qgis.utils.iface.addRasterLayer("http://server.arcgisonline.com/arcgis/rest/services/World_Imagery/MapServer?f=json&pretty=true", "Esri Imagery")
(Answer from http://www.northrivergeographic.com/qgis-adding-an-arcgis-rest-service )
