It depends on many factors. Some genres, like science fiction and fantasy, have a lot more publishers willing to accept unsolicited manuscripts. Small or University presses also do. If your book is a niche market, a small press could be a good fit for you and you wouldn't need an agent (though you'd probably want to find someone knowledgeable in publishing contract law to check any deals before signing).
With a mainstream novel, you'd probably like to see the book sold and on book shelves everywhere. You're better off in the long run finding an agent. Agents do a lot more than just get your book into the hands of book publishers. They handle the deal, the legal aspects of publishing, handle royalties and taxes, and help you build you career. Many help you revise to make your book as good as it can be (my agent is a gem in this respect). They handle the business side so you can do what you love -- write.