Is there a way to get element by XPath using JavaScript in Selenium WebDriver?

You can use document.evaluate:

Evaluates an XPath expression string and returns a result of the specified type if possible.

It is w3-standardized and whole documented: https://developer.mozilla.org/en-US/docs/Web/API/Document.evaluate

function getElementByXpath(path) {
  return document.evaluate(path, document, null, XPathResult.FIRST_ORDERED_NODE_TYPE, null).singleNodeValue;
}

console.log( getElementByXpath("//html[1]/body[1]/div[1]") );

<div>foo</div>

Expand snippet

https://gist.github.com/yckart/6351935

There’s also a great introduction on mozilla developer network: https://developer.mozilla.org/en-US/docs/Introduction_to_using_XPath_in_JavaScript#document.evaluate

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Alternative version, using XPathEvaluator:

Show code snippet