You can theoretically learn to animate before you learn to draw. You can also learn them both simultaneously. Start with the basics of animation. Im talking about the super basics, like flip book level, a ball rolling on the ground or something. Try it with tweens, then frame by frame, then modify that ball so that it has some extra drawn in elements for effect, like motion lines, blurs, etc.
Get a solid understanding of how animation works on a base level and what various methods you can use to achieve something. While doing this, gradually increase the detail of that ball, add some shadow, add a light source, change said shadow and light source as it moves. Make the ball morph into a square, a triangle, a star, a star with legs. Make those legs walk. Draw better legs, make those legs walk. See where im going with this. Eventually you should reach a state where your animation level, and level of drawing that is compatible with animation are pretty well established. There is a reason why many animations and animators focus on simplicity to start, its easier to work with a stick figure and get smooth animation first, than it is to make a decent looking frame by frame of a super detailed figure.
Once you are comfortable and have pretty smooth and suitable animation, you can then start to worry about how good your characters look, it will be much easier to know how to design a character for animation if you understand what is needed for that animation.