Yes, dog can hear high pitch sound.
This is because of the way their ears are designed. Their ears are made to cup and move sound in, similar to the way humans can put a hand up to their ear to hear better. Dogs can also move their ears around to hone in on sounds in different directions.
Dogs can hear these high-pitched sounds primarily because of the way they evolved. Wild dogs hunted for a living, and their main prey were little rodents that make very high-pitched sounds. Back before our domestic dogs evolved, they would hear sounds that were high-pitched in order to hunt better.