No it doesn't. It depends of your potency of haki and the potency of the haki of your opponent.
For example, if Character A has 2 layers of Haki and a Gravity Devil Fruit, and Character B has 1 layers of Haki, Character B would not be able to resist the effects of Character A's Devil Fruit via Haki. Character A then fights Character C, but Character C has 3 layers of Haki, Character C would be able to completely negate the effects of Character A's Devil Fruit via Haki.
In this same vein, since Law's Haki scales to around 6 layers, he has 6 layers of resistance to Gravity Manipulation due to Issho's Devil Fruit being a thing.