No. A vehicle must be insured in its own right to even be parked on the public highway. It would trigger every camera with ANPR that it drove past, both static and mobile, as being uninsured.
I think Barry is correct. I seem to recall the law changed with the introduction of the continuous insurance enforcement regulations. Unless ‘SORN’d’ a vehicle on the road must have insurance specifically attaching to it. So DOC insurance would allow the vehicle to be driven if it didn’t have its own insurance.
If a vehicle is SORN'd it can't be on the public highway at all, except to drive directly to a garage for a pre-booked MOT or other testing appointment.
If your vehicle is not SORN'd it must be insured even if it is going to stay in your garage in the middle of your field for ever.
".....as of June 2011 no person can own a car without it being insured, even if you’re not driving it. This applies for cars that are kept on a public road, in the driveway or in your garage. This is due to legislation called Continuous Insurance Enforcement (CIE) which aims to reduce the number of uninsured drivers on the road. There is even a fine of up to £1,000 if you’re found without a policy on your vehicle."
https://www.sagarinsurances.co.uk/news-and-updates/blog/do-i-need-car-insurance-if-i-m-not-driving-my-car/