This question is very complicated.
But the short answer is: No
You see to determine wether an object's velocity changes, we would look at if that object is accelerating or not, that is the literal definition of acceleration.
Newton's second Law of motion suggests that:
where f and a are vectors, meaning that a change in direction could mean that the velocity of an object has changed.
If an object is not subjected to friction, it could be subjected to other forces like drag,air resistance,ect... these are called resistive forces.
To make this simpler for you, if you mean that will no friction imply that the speed will minimally change then YES absolutely.
But if you mean that if the object is subjected to no friction (not resistive forces), will that object maintain a constant velocity (speed+direction), probably NOT.