Yes, it is sufficient. The way injection type attacks work, is by somehow getting an interpreter (The database) to evaluate something, that should have been data, as if it was code. This is only possible if you mix code and data in the same medium (Eg. when you construct a query as a string).
Parameterised queries work by sending the code and the data separately, so it would never be possible to find a hole in that.
You can still be vulnerable to other injection-type attacks though. For example, if you use the data in a HTML-page, you could be subject to XSS type attacks.