Yes. Firefox for Android uses the same Gecko engine and release schedule as Firefox for Windows, Mac, and Linux desktop. They all share most of the same code in the same source code repository [1]. Most of Mozilla's "Quantum" project to start importing Servo code into Gecko will also run on Android. Firefox for iOS has its own release schedule and shares only a little code (e.g. Firefox Accounts sync for browser history/bookmarks) with the other Firefoxes.

[1] https://hg.mozilla.org/mozilla-central/file/tip/widget