No, the Apple Airpods Pro is not waterproof.
It is sweat and water-resistant for non-water sports and exercise, but it should not be brought into or around water on purpose, as the water resistant seals will fade and eventually lead to permanent damage of the Airpods Pro.
Furthermore, the wireless charging case which houses your Airpods Pro must not be allowed to get wet as it isn't sweat or water-resistant, or waterproof. If you do get your Airpods Pro wet, it is recommended that you wait for them to dry completely before placing the Airpods within the charging case.
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AirPods Pro
New AirPods with active noise cancellation