There is a very good chance. HPV is transmitted by skin to skin contact, so condoms can offer a little protection, they don't offer complete protection.
There are 2 basic different types of HPV: high risk and low risk. Low risk hpv presents as warts. High risk HPV can cause damage to various sex organs: cervix, vagina, vulva, anus, mouth/throat, penis. If left untreated and undetected, high risk HPV can develop into cancer.