Iambic pentameter is also known as blank verse because it is a rhythm, so the simple answer is yes. Do not confuse rhythm and rhyme. Quite simplely, the rhythm of imabic pentameter is de DUM, de DUM, de DUM, de DUM de DUM.
Writers during the Elizabethean period used blank verse since it was closest to the rhythm of everyday speech. For example, "I asked for coffee but you gave me tea." In English, we usually use about ten syllables per breath.
Shakespeare was a master of blank verse and put the important words in the stressed position. For example, "In sooth I know not why I am so sad." (The opening lines of The Merchant of Venice.) Notice that the words sooth, know, why, am and sad are all in the stressed position.
Being the master that he was, Shakespeare would often break this rhythm once established as he needed. Classical actors have compared speaking Shakespeare to jazz.