I think dragons eat cliffracers so no, you won't see any in Skyrim.
The other way around as well probably. Since it was the cliff racers who extinguished the dragons in Morrowind.

Cliff racers breed like mad and given the chance they'll attack in packs. They're extremely agressive and suicidally tenacious, they'll just keep at it and at it, and they'll just keep coming and coming. Sure 1 dragon would easily smite 1 cliff racer, but in the end dragons would loose through attrition. It happened in Morrowind, it
would happen in Skyrim.