Yes and it's amazing. I really don't know why people complain. I've forgotten what the old iOS looked like. The new lock screen took less than a day to become second nature.
The music app is different but once you learn what's new, it's also easy.
One thing I don't like is that quick texting from Notification Center now opens a new box. I mean it's fitting for full on messages. Oh and to swipe away a notification you have to slightly pull down and then swipe up.
Still, I wouldn't be caught dead without the newest operating system.
iOS 10 was awful. Laggy, Glitchy and the Batter drain was awful. I was googling how to revert back
But 10.0.2 is amazing. Lag is gone, battery life is back to two days, and my apps don't glitch anymore.
The only downside is that the Snapchat camera takes a while to come on, but that just means Snapchat need to get it together.
but I'm planning to buy a 5S since it's even faster with iOS 10.