Using my own logic and the emphasis in the class concept in your definition, I can tell yes, because a child class depends on the parent class to do its work�
But by definition usually dependency is used in a context of modules, not just a single class. You usually don�t need to care too much about how much a class depends on other classes as long as it is clear the responsibility of each class.
And in fact there are many gray areas. For example an abstract class depends on a child class, if there is no child class there is no one to do the work.