Nowadays, it may be possible to forgo learning how to use the DOM API by jumping directly to using JQuery or other web frameworks, but to do so will limit your ability to understand what those libraries are doing under the hood. Since libraries like JQuery are just wrappers on top of the DOM API, using it directly will almost always run faster.
The tradeoff is that code that does DOM manipulation is typically difficult to maintain. See two-way data mapping.
Even using a modern framework like React or Angular, you’ll still occasionally run into situations where doing some direct DOM manipulation is handy, so it is worth learning.