If it has a leak, breaks, or is improperly used (not sealing at the base, or isn't held in place when pulling out), then yes it's possible. Otherwise no. Sperm can't just penetrate through the material of the condom.
Yes you can still get pregnant. So there is a possibility. Just wait until your missed period to test and you'll know for sure. Nothing is a 100% with preventing pregnancy except for abstinence.