I would agree with regards to that scene alone. However, later on it is emphasised that Dany does not enjoy these initial encounters with Drogo (consent or not) and does not do so until Drogo starts to respect her wishes, so her consent may be technically given but she's still not happy about the situation (something that should have been emphasised in the first scene more).

However, whilst it may have been written in modern times and be set in another world, the books are very clearly closely based on the real medieval period (moreso than any other work of fantasy I know of, with the possible exception of Kate Elliott's CROWN OF STARS series) when children were expected to marry and bear offspring of their own, often at exceptionally young ages. The issues of how this clashes with modern sensibilities are very deliberately placed in the narrative. It's meant to be problematic and make readers question the situation. It's also interesting to see how this scene is dealt with by people of other nationalities: in many European countries the age of consent is 14, with informal tolerance of things happening a year or two earlier, and in such cases the scene is regarded rather differently (to the point where the age issue is disregarded and the consent one becomes paramount) from in the UK and USA where it is significantly higher.

As I said earlier, I think that scene is hamstrung by GRRM being unusually timid (perhaps rightfully so given the circumstances) and backtracking a little from the full unpleasentness of the situation. The HBO series definitely handled this scene better, one of the few instances where it is possible to say that.