Yes, but not all of the functionality is available. 




Salesforce1
Lightning

Co-Pilot Side Bar

 No
No

Co-Pilot Broadcast Messages

Yes
Yes

Co-Pilot Feeds

Yes
Yes

Co-Pilot Alerts

Yes
Yes

Co-Pilot Buttons

Yes
Yes

Co-Pilot Pop-up

Yes
Yes

Co-Pilot Inline

Yes
Yes