I am new to game development and am trying to develop a game with panda3d. Can we directly use  Pygame modules along with Panda3d ones?
Yes.  Both Panda3D and PyGame are Python modules that can be used in any (compatible) Python installation.  There is (at least to my awareness) nothing about either library that prevents you from importing other Python modules.
Depending on what you're trying to do, though, the answer may be more tricky.  For instance, presumably both PyGame and Panda3D have their own main game loops, and using them together would require making one game loop run as a part of the other library's game loop.
Sharing resources or graphics contexts would also be tricky, as both libraries manage their own graphics state.  It would be a lot more tricky (but not necessarily impossible) if your question included, for example, drawing PyGame elements into a Panda3D window or vice versa.
How to use Panda3d and Pygame together