Yes I've seen several bright astro objects with naked eye during the day: Sirius, Antares, Venus, Jupiter, Comet McNaught, etc. It helps if they are near zenith and there's good separation between them and the sun, say early morning or late afternoon, but Comet McNaught didn't have much separation.
I think there was less than 2 hours RA separation when I viewed McNaught - house eaves are a good thing!
Al.