Yep, all the time. Occasionally, it takes a second or two, but the vast majority of the time, it's nearly instant on my 5s. Not as fast as a 6s, but very fast all the same.
In fact, like some 6s users, I've taken to waking the phone with the Sleep/Wake button instead of the Home button because I kept missing notifications on the lock screen, as the phone unlocked instead of just showing the notifications.
The iOS 10 raise-to-wake feature will change things, but I wonder if it wakes when anybody lifts your phone up. I hope this can be restricted to using a Watch to authenticate, just as the phone can unlock the Watch.