Yes, you can. You’ll need to make sure you have the kernel module on your host system. I’m running Ubuntu, but I’m sure it’d be similar on other distros:
sudo apt-get install linux-headers-generic virtualbox-dkms
And make sure the kernel module is loaded:
sudo /etc/init.d/virtualbox status
VirtualBox kernel modules are loaded.
Now, run the docker container, and mount /dev/vboxdrv as a volume:
docker run -it -v /dev/vboxdrv:/dev/vboxdrv your/container-image