There are lots of free drum lessons on YouTube.com and if your interested in learning to read music, there are lots of good sites on the internet. Freedrumlessons.com is another example.
You do however do need to learn some rudiments. There are 40 essential rudiments. You don't need to learn them all, but you do need to learn the basics. I'm a self taught drummer and started when I was 8 years old. That was about 50 years ago.
You can find rudiment videos on YouTube and for reading them here is a good site and it contains lots of good tips also:
Drum lessons by Jacob Kaye musician, drummer, private drum teacher and his band - offers professional drum lessons .
Later on as you progress, you can learn how to use your limbs to apply them to what style of drumming you need to learn. Practice is the key factor in any style of drumming.
Welcome to the forum. Good luck on your quest.
Happy drumming and many blessings.