Yes and no. There’s nothing magic about Pegasus. It just exploits vulnerabilities. You protect yourself by not having vulnerabilities. That of course is almost impossible. 
I believe that at least some of the vulnerabilities have been long fixed. So you at least protect yourself by keeping up to date with your patches.
I don’t know about an actual CVE but Pegasus appears to be being discussed in two topics in this forum and in the other topic NSO Group Pegasus there are some technical details linked to.