Yes, absolutely you can use Dapper, PetaPoco, Massive, Simple.Data, or any other micro ORM you would like. In the past we have used NHibernate to solve the problem but it was a 10,000 lbs. gorilla compared to what we needed.
One thing that we really liked about Simple.Data and Petapoco in our evaluation of those libraries was that they each could adapt your queries to different database engines (including Mongo) with minimal tweaking necessary, whereas Dapper was basically one big bunch of SQL strings--it was "stringly typed". Don't get me wrong, Dapper's great and is very, very fast and will absolutely work great. Just evaluate your functional and non-functional requirements before committing.
Here are the relative number of downloads using NuGet for each of the primary micro ORMs (as of about 1/1/2012). For us, having a good community with lots of downloads is always a must in order to help iron out issues when the arise:
- 5568 Simple.Data
- 4990 Petapoco
- 4913 Dapper
- 2203 Massive
- 1152 OrmLite
Lastly, one thing you may want to investigate is your reasoning behind SQL altogether for your read models. If your domain is publishing events (regardless of event sourcing), and you're writing to simple, flat/non-relational view models, you may be able to get away with something as simple as JSON files that are pushed to the browser which the browser then interprets and uses to populate your HTML templates. There's all kinds of options that are available, you just need to determine what works best in your scenario.