15A outlets can be used on a circuit with a 20A breaker.
If it is a single receptacle on a 20 Amp circuit, it must be a 20 Amp receptacle. If there are multiple receptacles on a 20 Amp circuit, the receptacles can be either 15 or 20 Amp, unless arc welders or HID lighting are to be used on that circuit, in which case receptacles must match the ampacity of the branch circuit conductor.
This is to allow you to have multiple devices plugged in drawing less than 15 Amps each, but the total draw on the circuit may be greater than 15 Amps.
Note that a 20A circuit uses 12 ga wire--you can't turn a standard 15A circuit, which uses 14 ga wire, into a 20A circuit just by changing the breaker.