Sure, nothing is the same as raw.
But if you do it right, condomed sex can just as good.
The biggest mistake that men make is throwing on a rubber and jumping right into the p*ssy. Bad idea, even if she's wet.
Keep in mind, human bodies are in the high 90s, while that condom is at room temperature (68-75ish). The contrast in temperature, coupled with the additional friction of the latex can reduce pleasure.
Try this: next time you roll your Trojan on, have your girl give you some deep throat after. Doesn't have to be a long time but long enough to warm up the latex.
Afterward, throw on a little lube. No need to go overboard, but use some. Women can be insecure about being wet enough so just say that it's to offset the condom.
You do these things and it should feel great. Best of luck gentleman. Protect yourselves out there.