People perceive time differently depending on their mental state. When people are having fun, time flies. When people are bored (e.g. when mental states don't shift much), time seems to barely slip by.
Also, people who are asleep often do not perceive time. Similarly, perception of time is influenced by drug use or state of mind.
Since different people have different states of mind at any given time, the answer is YES, time is perceived differently by different people.
Also, note: people travelling at different speeds not only perceive time differently but are operating in different times altogether. For instance, the starlight you see is from the distant past, though you perceive it in the present.