If you practice singing songs, will your voice improve?

My voice isn't very good but i still wanna sing because i enjoy it. If i practice singing songs, will my voice improve?

DYNAMITE present IRIS

Yes. I am a singer and I take voice lessons. You should take lessons but you can get better just by working on the little things like control, not tightening your throat when you hit high notes, and stuff like that. My brother never took lessons and used to suck horribly at singing but now he sounds pretty good after all these years of just keeping on singing.

Kooly Bros - Rhythm Of The Night