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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.

https://www.independent.co.uk/news/world/americas/atheists-help-homeless-people-south-carolina-dont-need-religion-kind-alliance-spartanburg-a8065486.html 

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.

I believe helping the poor is an act of service and acts of service can be a form of worship.  It is important to remember though that along with acts of service it is important to have faith.  One without the other is basically for nothing.

There are many forms of worship including praying, singing, even dancing although some denominations frown on that sort of thing (Footloose anyone?).  

Aside from the religious aspect of it, there is also the love languages line of thought.  In that way too acts of service are a love language.  

I think if you feel you are being led to help the poor, you will probably not go wrong if you follow that instinct.  Whether you or someone else labels it worship or not, it is really just doing what you have to to be a decent human being.  If we were all a little more giving of ourselves the world might be a better place.

yes..

If there are deeds that Allah loves, the Prophet recommends, outside of worship such as prayer, fasting, remembrance and others, then that is a practice of helping others.

Anas bin Malik said, "One time we were with the Prophet SAW, and the most sheltered among us were people who sheltered their clothes. As for those who fast, they do nothing. While those who break their fast (do not fast), they send camels on horseback, work and treat. The Prophet (PBUH) then said, "The people who break the fast today buy merit." (Bukhari).

In this case, the figure of Abu Bakar Ash-Shiddiq is an outstanding example. Within a day he could do more than one practice that had a very strong relationship with the spirit of helping others. One day the Prophet asked, "Which of you fasted today?" Abu Bakr replied, "I am." The Prophet asked again, "Which of you has attended the funeral today?" Abu Bakr said, "I am."

The Messenger of Allāh lagi said again, "Who among you is feeding the poor today?" Abu Bakr said again, "I." The Messenger of Allah asked again, "Which of you visits people today?" Abu Bakr replied, " Me. "The Messenger of Allah then said," If all the deeds are collected on someone (like this), surely he will enter heaven. "(Muslim).

Through the above hadith, as if the Messenger of Allāh W conveyed the implicit message that fasting should not prevent someone from actively helping others. Especially feeling satisfied just because they have been diligent in carrying out fasting. Who can help others in a variety of things, such as helping a fellow funeral who dies, feeding the poor and visiting sick people, the degree will be higher in the sight of Allah and His Messenger.

I am a religious man (at least I think I am). If helping the poor isn't worship then I won't consider myself religious.