If we do not consciously perceive a sound at a time, can we sometimes still later consciously recall it?
This question is related to subliminal perception, often studied in vision but sometimes also in hearing. This remains a bit controversial, and that is mostly because of arguments about how ones measures whether something has been perceived or not.

My answer to your main question would be "no", but that is speculation. You use the word "recall", which in memory research generally suggests an explicit, conscious recollection and you would normally only get this if you had consciously perceived something and encoded it the first time round. There are, however, examples of subliminal sounds which are not identified at the first presentation but which nevertheless affect later behaviour (e.g., here).