In short, the answer is "yes", our God is a "jealous" God.
Exodus 20:5
You shall not worship them or serve them; for I, the Lord your God, am a jealous God, visiting the iniquity of the fathers on the children, on the third and the fourth generations of those who hate Me,
Deuteronomy 4:24
For the Lord your God is a consuming fire, a jealous God.
Joshua 24:19
Then Joshua said to the people, “You will not be able to serve the Lord, for He is a holy God. He is a jealous God; He will not forgive your transgression or your sins.
There are a few of them. The obsolete meaning for the word "jealous" actually means "fear of loss". It doesn't mean what it does today. I know someone might say, "I will make them jealous by doing this one thing they always wanted to do and not invite them." That's today's version, but it used to. That's a little interesting side note to keep in mind.
However, the Hebrew word in Exodus 20:5 is qanna' (jealous) meaning: used of God as not bearing any rival; the severe avenger of departure from himself.
Severe avenger of departure from himself. Sounds like it could be fear of losing us and us straying away?