No.
Photos and videos on the camera roll can be included in backups to icloud, but you can't access them individually other then to perform a complete restore (all the data) from the backup to the device (and this involves first erasing all device data before the backup is restored).
There is photo stream, which is used to sync photos from one device to another and shared photo stream where others can have your photos added to their photo data on their devices. But icloud does not have a photo gallery.
Photos and video should always be synced to a computer or other cloud service (e.g. Dropbox) for archiving. iCloud is not recommended for archiving, since photo stream for example only keeps up to 1000 photos and up to 30 days after which the servers remove them.