Absolutely!
I'm not sure what you birth plans are, but I have heard hospitals won't let you in the birth pool if your membranes have ruptured, but most providers well versed on waterbirth have no problem with it. If you are planning a homebirth, the likelihood is that your midwife won't be concerned about it.
Of course, the main concern is infection, but if you think about the physiology of our bodies, as long as nothing is going "up" in your vagina (examining fingers

: ) our bodies naturally push things down and out of our vagina, especially during contractions. So, there is little risk of bacteria traveling upwards if nothing is put in the vagina.
We have had many mamas birth in the water after their membranes ruptured, some even DAYS after the water broke.