Yes. If you are using premium, select the large thumbnail. It’s high enough quality that it will probably be good enough for most pics. However, if you want to see an even better pic, request the full resolution (HD) photo.
If you have one of the new cameras, you can also get video. Set to photo + video, 10 seconds, 1024 * 576, sound ON.
You won’t get the HD photo or video until the next time the camera contacts the server, so it’s a good idea to set scheduled events (either photo or status report) every couple or three hours unless the camera is in a high-traffic area.