I've read some excellent fantasy without maps, so Yes. The one I'm reading right now is the Lotus Empire by Tasha Suri and the whole series is brilliant... but no maps!
It depends on the type of fantasy story, the level of detail the author uses and the setting. For instance, post-apocalyptic America turned fantasy doesn't need it if most of the landmarks continue using the names that already existed.
To expand, while I do love a good map, it isn't always necessary. And I've been disappointed with some maps that don't seem to fit written descriptions.
If it describes a map, does that count? Come to think on it, I don't know any book labeled as fantasy that doesn't at least describe one, even if there isn't a reproduction of it.
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Looking at you McCaffrey