Yes, but works that materially affect the character of a protected structure need planning permission, and solutions must be breathable and reversible. Internal insulation using vapour-open materials is usually preferred over external wrapping.
Solid masonry walls in older buildings manage moisture by absorbing and releasing it. Sealing them with impermeable insulation can trap moisture in the wall, causing decay to embedded timbers and internal damage, so the technical solution matters as much as the consent.
Discuss the proposal with the local authority conservation officer early. A declaration under section 57 of the Planning and Development Act can confirm which specific works would or would not materially affect the character of the structure.