Am I able to see when the recipient has opened my invoice email?

Yes, jaisimmie-outloo.

I have the steps where you can view the status of the sent invoice.

Here's how:

1. Go to Invoicing > Invoices.
2. Find the invoice and select it to open the activity window.
3. Under the Invoice activity section, the Viewed status will turn green in color once your customer opened the email. 

I've got this sample screenshot for a visual reference:

To learn more about the different invoice status, you can read this article: Create invoices in QuickBooks Online.

If there's anything else you need help with your QuickBooks Online account, please let me know in the comments below. I'm here to help you out some more. Have a great day!