Can we play defensive/counter without any DMC in the team?
yes

little bit more analysis to that.
Making a counter formation isn't something "magic".
You 're trying to find some weakness and just put in some place more powers than another.
of course that can gives you a disadvantage too.
So, if you don't have a DMC (only the 4 def.) and have 3 MC, this will give you more "control" of the match.
If you put also a AMC to AMR & AML, this will give you more chances to score.
But, if oppo also playing with counters and long pass, this can be dangerous as you 'll not have a between (def. and midf. area) line.
So I prefer to use a DMC unless oppo is too week or I 'm desperate to win/score .