No they count as listening.

However, they do count in terms of consuming a book so it depends if you mean reading literally or not. Since we traditionally use the term read to describe consuming a book I think if you listened to an audiobook you can say "I read that book" to signal you are familiar with it and consumed its contents even though you didn't technically read it, you listened to someone else read it.

Using read to describe consuming an audiobook is akin to addressing a group of people who are not all male as guys. It's just socially understood though not technically correct.