Some may disagree with me but I’d say yes. Once I made the switch to skim milk, whenever a recipe calls for milk, I’ve always used the skim. Don’t taste a difference. The only exception may be for some baked goods? But not really sure about that.
In all honesty, I think it depends on the recipe, whether or not the fat is an integral part of the make-up! But of so, you can always add a pat of butter to offset the skim milk. (I personally only buy skim). What recipe are you looking at??