Yes. That is the combination on my commuter bike (except it's a 5600 rear derailleur).
The 9 and 10 speed derailleurs both have the same amount of side to side shifting movement for a given cable movement (pull ratio), and move across the same overall distance. In fact they'll cover a lot wider distance than necessary and it is narrowed to the necessary range by the limit screws. This is to accommodate variations in the lateral position of the derailleur relative to the cassette above it on different frames, and with different wheel hubs.
The difference between 9 and 10 speed is the distance from top gear to bottom gear is divided into 9 steps and 10 steps (or cogs) respectively. The shifters pull the necessary amount of cable, which is a bit more for 9 speed, as there's one less step than 10 speed.