Yes! The more we discover on life, the more we realize it'll evolve anywhere it can. Europa, moon of Jupiter, could likely support life using heat that's generated from the gravitational interactions of it and Jupiter.
However it is questionable how far this life could make it as you require some stability to have anything beyond basic cells start to evolve. The universe is a messy place and this planet could easily be under constant bombardment by asteroids. But more over, our sun supports what is known as the Heliosphere. Just like Earth, the sun supports a magnetic field as it travels through space that deflects much of what would kill life on Earth...cosmic rays, solar winds, and all sorts that would have a catastrophic effect had it interacted with any life form. Outside of the Heliosphere in intergalactic space, we can see things like protons travelling 99.99999% the speed of light (only way we can detect this is they occasionally shoot neutrons at us). This is an atom with the energy of a baseball going 100mph...if that strikes a cell, it ain't surviving. What exactly is protecting this rogue planet from the harshness of stellar weather?
So the answer to your question ultimately becomes 'define life'. If you are looking for single celled organisms, it's gotten to the point that it's hard to deny that they would be there. Extremophiles thrive on Earth in some of the harshest conditions possible. We can find life on Earth capable of repairing it's own DNA, which would likely be an essential component of life on this rogue planet. So the possibility is there...However if you're talking some relatively advanced life, even creatures like small fish, then this life is going to have to overcome some incredible odds (like surviving space weather) in order to survive.