I haven't tried it yet but I assume it would work. The navigation drawer only consumes gestures that start ear the edge of the screen, so as long as the user doesn't swipe from the edge the viewpager will work. If you're talking about putting a viewpager inside the drawer, then I'm not sure that swiping would work (it might), though changing the viewpager page using buttons would be fine.
Markus (corwin42) would be able to properly answer this, or you could just test it yourself and post the answer here