The answer is Yes - BUT - What does it mean, "Know How To Draw"?
Let me tell you a secret:
"Learning to Draw" really means "Learning to LOOK"
This is the process of Drawing:
Practice, Practice, Practice!
Animators need to go a step further:
Drawing for animation is a specialized branch of drawing in general.
We really need to study and understand how people, creatures and all sort of things move.
How weight, thrust and impact affect the shape of things.
How do the joints work in a living body.
Even if your character is some wacky imaginary creature, you still need to consider basic rules – like Gravity, if you want the animation to look good.
It is true that some people started animating directly on the computer and became good animators, with no academic education.
What happened to them was that they learned to draw - on the computer.
If you have an eye for detail, can create great compositions, know how to articulate the weight and mass of your character – then you are drawing, no matter what you call it.
Let me bring back an old word to describe all this:
A Study is what an artist does before putting the brush to the canvas, before the chisel hits the stone.
It is a planning stage.
The more complicated the piece of animation you're planning is, the better you should prepare for it.
If it's the paper and pencil that worry you – I have good news:
You can learn how to draw with a computer.
The computer is just another tool. It only puts out what you put into it.
Learning to draw can shoot you and your work sky high.
It’s worth the effort.
Go to the next step:
Try a Classic Animation Software