Sort of. The triple point doesn't really exist at standard atmospheric pressure. The true triple point is somewhere around 600Pa pressure -- or a out 0.6% of atmospheric pressure. You can achieve this in the upper atmosphere, on Mars, or in a vacuum chamber where you pull the pressure down to that point.

There is such a thing as vapour pressure in our atmosphere which is different than the triple point. You see this as humidity. But this isn't truly gaseous water -- rather it is more akin to liquid water molecules held in a gaseous solution (the atmosphere being the solvent).