Yes, I had a dragon circle above me several times outside the town were the mage college is. It kept dipping down behind the mountains, and then roaring back up and making a fuss but it never landed to attack me. I assumed it was playing with something; so I rode around to were it was circling and an Ice Wraith killed my horse. Go figure.
Anywho, it appears the dragons may not always be there to attack you.