To answer your question directly,if the condom doesn't break or fall off,there are no holes in it at all and you can see the semen filling the tip without dripping out, it's impossible to get pregnant without having the semen contact the cervix. And timing helps too if you want to stress that. Having sex when you're not ovulating, the best way is to find an ovulation calculator or get ovu-tests which cost money.
Answer: No