I really have no drawing skill at all so you dont need that to use Poser/Daz, I had the same concerns before taking the plunge, In the end I had a very quick look at Daz 3 Free but didnt much like it, but it was enough to tell me I could make what I wanted without having to be able to draw, so I then took the plunge and invested in Poser Pro.

The learning curve is steep, It took me probably a couple of weeks before I got anything close to what I wanted out of it, but after understanding the basics it gets easier and theres normally helpful information to be found online if you get stuck on something.