Yes. Some tiger moths (Arctiidae) are poisonous as a result of toxins ingested when they are larvae. Diurnal, toxic insects advertise their toxicity with bright, warning colors, but tiger moths are nocturnal and their primary predators are bats, which hunt by sound. So, the moths themselves emit sounds that tell the bats who they're dealing with. Pretty amazing, eh?
I should distinguish here between "poisonous," which means you're in trouble if you bite it (e.g., tiger moths), vs. "venomous," which means you're in trouble if it bites you (e.g., rattlesnakes).