Succulents can be planted in pots or planters without holes in them but if you do plant the succulents in pots or planters that do not have drainage holes you should just water the succulents less often and not give them as much water.
Succulents do best though when planted in pots that have drainage holes so that excess water can be drained out of the pot so they don't drown in the excess water.
If you plant succulents in soil outside without a pot or planter be sure the soil is well draining and porous so that the succulents do not drown.