Short answer: No, CQRS and event-sourcing are not tied to each other.
Long answer: No, CQRS and event-sourcing are not tied to each other, and they aren't tied as well to domain-driven design (DDD).
If you want to define what CQRS, event-sourcing and DDD are in a few words, you may come up with explanations as the following ones (yes of course, they are over-simplified, but that's exactly the point here):
- CQRS is a design pattern that separates writing state from reading state (commands vs queries).
- Event-sourcing is a way to store data in a database, where the deltas are stored rather than the actual state.
- DDD is a method to make communication on the domain easier within interdisciplinary teams.
Each of them works without the others very well. E.g., you can model a domain using DDD, and then implement it without CQRS or event-sourcing. You may also do event-sourcing without ever needing DDD or CQRS. And so on…
But: The three concepts play very well together, which is why they are often called together within a single sentence. So, no they aren't tied to each other, but they make a lot of sense in combination with each other.
The following picture shows how they may interact with each other:

(The image is taken from the documentation of wolkenkit, a CQRS and event-sourcing framework for JavaScript and Node.js.)
- CQRS describes that you send commands to the write model, and that you receive events and subscribe to queries from the read model.
- Event-sourcing is used with the write model to store the events that are published as result of the commands the client sends.
- DDD is used within the write model to turn commands into events and to run the appropriate logic.