In most cases yes, but not always.  In some occasions, an inversion occurs where the temperature actually increases as you go higher.  When a warmer, less dense air mass moves over a colder air mass this inversion occurs.  This is often associated with oceanic upwelling and warm fronts.

Citations: http://www.nws.noaa.gov/glossary/index.php?word=inversion
http://en.allexperts.com/e/i/in/inversion_(meteorology).htm

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Also, the temperature profile in the atmosphere is that temperatures decrease with height in the troposphere and mesosphere, but temperatures increase with height in the stratosphere and the thermosphere.

Citations: http://apollo.lsc.vsc.edu/classes/met130/notes/chapter1/vert_temp_all.html

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