Technically no. The iPad is a strictly wireless device.
To print directly from an iPad / iPhone you will need an AirPrint compatible printer or another device to act as a print server. That can be a Mac computer running Printopia ($19.95 with free trial) or handyPrint (donation - supported). The Mac must be "on" but may be asleep for them to work. Equivalent PC options exist but you're on your own finding them.
You can also buy this standalone print server:
The Xprintserver "home edition" supports a directly connected USB printer; the more expensive version only supports printers available to your network.
These options enable you to use any printer available to your Mac, even older ones that may predate AirPrint by decades. Five years is nothing.