I believe so. In Num 22:18, Balaam states "I cannot go beyound the word of the LORD my God".
He obviously wasn't a very good follower though
Do a computer-aided search for "Balaam" in the Bible, it's pretty interesting. Seems like a lot of what he did was done behind the scenes. Sure, he did make a lot of favourable prophecies about Israel. But then it seems Moses was quite aware of who caused the ruckus in Numbers 25:
Numbers 31: 15 "Have you allowed all the women to live?" he asked them. 16 "They were the ones who
followed Balaam's advice and were the means of turning the Israelites away from the LORD in what happened at Peor, so that a plague struck the LORD's people.
(emphasis added) This was after the Israelites' revenge raid on Midian and Moses' last action appearance. Moses is quite clear in his words and to top it off Balaam himself was killed (Num 31:8), something I don't think Moses would have sanctioned if Balaam was a servant of God. And there's Jesus' very own words:
Revelation 2: 14 Nevertheless, I have a few things against you: You have people there who hold to the teaching of Balaam,
who taught Balak to entice the Israelites to sin by eating food sacrificed to idols and by committing sexual immorality.
From this my personal conclusion is that Balaam was not a follower of God. My personal conjecture is that Balaam was a sort of mystic shaman who was very aware of the spiritual realm, both divine and demonic. He could have been polytheistic or even henotheistic (meaning with a pantheon of gods, but one Chief God, much like the Greeks had their main god Zeus plus a supporting cast), and he definitely knew the power of God, but without knowing the holiness that was appropriate, instead consorting at the same time with demons. However when Balaam was brought into conflict with the people of Israel in Balak's hire, he found that God would not let the demons empower him, but would only let him say the things that God wanted him to say. The fact that one of those prophecies was a Messianic prophecy makes this plausible to me: God wanted to show Israel that even a heathen demon-worshipper was subject to His authority and to the authority of the future Messiah (by prophesying of Him). It could be that for the first three oracles, when Balaam sacrificed animals, perhaps he was trying to bribe God into changing His mind. Only when those three offerings had failed did he admit that he could only say what God told him and there was no way to avoid the great destiny for the people of Israel. However, Balaam was aware of spiritual principles and he was being paid well by Balak. Perhaps Balaam gave him a "How to make God angry with His anointed people: 5 simple steps to idolatrous seduction!" brochure

between Numbers 24:24 and Numbers 24:25. In any case, Balaam seemed to realize that sin would cut off God's protection over His people and thus he advised Balak to entice them into sin. True enough, the people of Israel fell and God Himself had to "curse" them for their infidelity ... which was exactly what Balaam and Balak had wanted.
I know that I am spinning a lot of this out of my own imagination, but it seems like a plausible scenario to me, a waypoint along God's instruction of His people as He prepared them to enter the Promised Land.