Yes. Condensation can form on any cold surface when warm, humid air reaches it, so it can occur on or around the sensor area inside the camera body, not just on the lens. Strictly speaking, it’s not “inside” the silicon sensor itself, but moisture can form on the sensor assembly or nearby internal parts.

This can be risky because moisture and electronics are a bad combination. It may also leave dried spots or residue that later show up in images and require sensor cleaning.

In normal use, the risk is lower if you keep the lens attached while the camera warms up, since only a small amount of outside air gets inside. Avoid changing lenses until the camera has acclimated. Also minimize zooming with lenses that extend internally, since some zooms can act like air pumps and move moist air through the system.

Using live view or video may warm the sensor fairly quickly, but other internal parts can still remain cool enough for condensation, so it’s still best to let the camera warm gradually before heavy use.