technically, yes. all sound is vibrations. vibrations can travel with friction, and many other means of "travel". the main ways vibrations are conveyed is through air and ground. we, humans, have "ear drums" which detect slight vibrations in the air and we "hear" them. we also detect vibrations on the ground, through our hands and feet.
chameleons on the other hand lack an "ear drum", so they are unable to detect small vibrations (i.e. a whisper, or a normal talking voice). they can, however detect large vibrations that shake air molecules like hell (i.e. a subwoofer, or a scream)
The other way chameleons can "hear" is through vibrations they receive through the ground.