Can a condom prevent cervical cancer or not?

No but can reduce it: Cervical cancer is typically associated with hpv infection. Studies have shown that women whose partners consistently used condoms had 70% fewer hpv infections. Although it is a sexually transmitted infection, you can get hpv even in sex without penetration, such as with skin-to-skin contact. Thus, consistent condom usage can reduce hpv infection but does completely prevent cervical cancer.

Minimize: It can drastically reduce the risk but i would not say the word prevent. Most cervical cancers are due to hpv (a virus) which is transmitted by physical contact. A condom would theoretically eliminate that risk but that assumes that one has no other exposures/contacts. A vaccine would do a better job in preventing most cervical cancers.