The short answer is "Nope". Only the very oldest of gamepads use direct communication, like a 2600 joystick and even they have special needs for things like analog controls ect.
From the Nes era and beyond, gamepads started using serializer chips (Nintendo) multiplexers (Sega) and eventually full-on serial protocols to communicate with consoles.
Usb adaptors for most retro controllers can be found for a little as 10 bucks a pop.