Is it possible to have SSL certificate for IP address, not domain name?

According to this answer, it is possible, but rarely used.

As for how to get it: I would tend to simply try and order one with the provider of your choice, and enter the IP address instead of a domain during the ordering process.

However, running a site on an IP address to avoid the DNS lookup sounds awfully like unnecessary micro-optimization to me. You will save a few milliseconds at best, and that is per visit, as DNS results are cached on multiple levels.

I don't think your idea makes sense from an optimization viewpoint.

The answer I guess, is yes. Check this link for instance.

Issuing an SSL Certificate to a Public IP Address

An SSL certificate is typically issued to a Fully Qualified Domain Name (FQDN) such as "https://www.domain.com". However, some organizations need an SSL certificate issued to a public IP address. This option allows you to specify a public IP address as the Common Name in your Certificate Signing Request (CSR). The issued certificate can then be used to secure connections directly with the public IP address (e.g., https://123.456.78.99.).

Yep. Cloudflare uses it for its DNS instructions homepage: https://1.1.1.1

The answer is yes. In short, it is a subject alternative name (SAN) certificate that contains IPs where you would typically see DNS entries. The certificate type is not limited to Public IPs - that restriction is only imposed by a signing authority rather than the technology. I just wanted to clarify that point. I suspect you really just want to get rid of that pesky insecure prompt on your internal websites and devices without the cost and hassle of giving them DNS names then paying for a CA to issue a cert every year or two. You should NOT be trying to convince the world that your IP address is a reputable website and folks should feel comfortable providing their payment information. Now that we have established why no reputable organization wants to issue this type of certificate, lets just do it ourselves with a self signed SAN certificate. Internally I have a trusted certificate that is deployed to all of our hosts, then I sign this type of certificate with it and all devices become trusted. Doing that here is beyond the scope of the question but I think it relevant to the discussion as the question and solution go hand in hand. To be concise, here is how to generate an individual self signed SAN certificate with IP addresses. Expand the IP list to include your entire subnet and use one cert for everything.

#!/bin/bash
#using: OpenSSL 1.1.1c FIPS  28 May 2019 / CentOS Linux release 8.2.2004

C=US ; ST=Confusion ; L=Anywhere ; O=Private\ Subnet ; EMAIL=admin@company.com
BITS=2048
CN=RFC1918
DOM=company.com
SUBJ="/C=$C/ST=$ST/L=$L/O=$O/CN=$CN.$DOM"

openssl genrsa -out ip.key $BITS

SAN='\n[SAN]\nsubjectAltName=IP:192.168.1.0,IP:192.168.1.1,IP:192.168.1.2,IP:192.168.1.3,IP:192.168.1.4,IP:192.168.1.5,IP:192.168.1.6,IP:192.168.1.7,IP:192.168.1.8,IP:192.168.1.9,IP:192.168.1.10'

cp /etc/pki/tls/openssl.cnf /tmp/openssl.cnf
echo -e "$SAN" >> /tmp/openssl.cnf

openssl req -subj "$SUBJ" -new -x509 -days 10950 \
    -key ip.key -out ip.crt -batch \
    -set_serial 168933982 \
    -config /tmp/openssl.cnf \
    -extensions SAN

openssl x509 -in ip.crt -noout -text

The C/A Browser forum sets what is and is not valid in a certificate, and what CA's should reject.

According to their Baseline Requirements for the Issuance and Management of Publicly-Trusted Certificates document, CAs must, since 2015, not issue certificats where the common name, or common alternate names fields contains a reserved IP or internal name, where reserved IP addresses are IPs that IANA has listed as reserved - which includes all NAT IPs - and internal names are any names that don't resolve on the public DNS.

Public IP addresses CAN be used (and the baseline requirements doc specifies what kinds of checks a CA must perform to ensure the applicant owns the IP).

It entirely depends upon the Certificate Authority who issuing a certificate.

As far as Let's Encrypt CA, they wont issue TLS certificate on public IP address. https://community.letsencrypt.org/t/certificate-for-public-ip-without-domain-name/6082

To know your Certificate authority , you can execute following command and look for an entry marked below.

curl -v -u <username>:<password> "https://IPaddress/.."