Nope, unless someone told you that you could use a cable card (if your TV has the expansion slot of the cablecard). Even then, you still have to rent those cable cards from the cable company. The only way to get around renting a set top box from the cable company that I know of, is to just subscribe to basic cable service.

Note: Cable company's will probably be forcing their customers to upgrade to digital before 2012, so even if you do go to basic cable, they'll eventually require you to rent a set top box.