Can you get arrested if you don't pay a debt collection agency?

No, there is no debtor's prison in the US. If a collection agency has called you and has made this threat, contact an attorney and consider filing charges against them in federal court for violations of the Fair Debt Collections Practices Act. Be open to settling out of court, but do it for nothing less than ten times the balance they were attempting to collect.

If it was a repossession agency that was contacting you and you are hindering the lender in recovery of their collateral, then you could be arrested in some states. This would not be for the debt but for the crime of hiding the vehicle (hindering) or refusal to surrender it (theft or contempt of court).