It depends on your views about religion. Let's take some examples.
If you are a Muslim, it definitely is. Other people have explained it in a very detailed manner, and here is the summary: If you don't have mercy on the ones who are not so fortunate, then you won't have the mercy of Allah.
If you are a Christian, it again is. In 1 John 3:17 it is written as follows: But if anyone has the world's goods and sees his brother in need, yet closes his heart against him, how does God's love abide in him?
Source: https://www.biblegateway.com/passage/?search=1+John+3%3A17&version=ESV
But what if you don't believe in any religion? Can helping the poor be any form of worship? I doubt it. And the real question here is do you need to have religious views to help the poor? I don't think so. An atheist can also help the poor, and in that case, it wouldn't be a form of worship. If you want to check an example, there is an article about atheists helping the poor in South California.
These atheists are not worshipping since they do not believe in any religion.
However, if there is a god, would the god perceive these good deeds as a form of worship. There can be different views about this issue. I would say yes. Isn't being a nice person the goal of each religion? Isn't helping the poor a way of being nice? If so, and if you are a believer, it is a form of worshipping. If not, then it is just a good act., which in any case would be approved by god.