Maybe from a free clinic. I'm saying that because, if my daughter went to the gyne. by herself to get some, my medical insurance will take care of it. I don't know if they will need my permission. I don't have a problem with it though.
Yes, it's better than getting a sexually transmitted disease or a baby without your parents permission. I would urge you to go to a women's clinic to be sure you receive accurate information about how to protect yourself from disease and pregnancy. I would hope your partner would go as well. Sex is a big responsibility with huge consequences if your plan fails. Please be sure you and your partner can face those if you must. I'm glad you are at least thinking ahead.
I'm not 100% sure if you can at your regular doctors but you can always call & find out. You can also go to planned parenthood or another free clinic & get birth control or condoms without parental consent.