Chronologically, yes. But it's better to first play I&II and Origin afterwards. Origin gives a deeper backstory about the events that led to Ys I&II.
What was their order in terms of release date? I have Origin and it's my first Ys title, and while it's fun I haven't had the time to invest. Is Ys I&II similar in terms of combat? Better or worse?
Also same question for OiF.