Only if you use encrypted DNS, not if you just use regular 9.9.9.9 in your settings.
There are also still ways your ISP can see the domain names you are connecting to, but DNS-based tracking and filtering is the most common, so it at least eliminates that most common attack vector. But if you know your ISP doesn’t modify DNS responses then using another provider won’t do too much for you, and if you’re worried about the potential of your ISP tracking you a VPN is a more robust solution.