The simple answer is "yes".
The more complex answer is "it depends" and "how much heavier".
Over time you could expect evolution to help, bones would thicken. Height would decrease, people might even move back towards shorter legs and great-ape-style 4-legged movement.
That doesn't help the first poor victims though so lets think about this.
Lets say an adult male weighs 80kg on earth.
In 2G they would weigh 160kg; at 3G they would weigh 240kg.
Those are starting to be serious weights, you could still move but it would be an effort. Assuming you were fed enough you would build up serious muscle strength but you can still expect bones and joints to feel the strain. The heart and lungs would need to work harder, bed sores would develop faster.
Even minor trips and falls would become much more serious, a simple trip could easily lead to multiple broken bones and a slip on the stairs could be fatal. In fact there would be unlikely to be stairs and certainly no ladders.
Sleep would be a problem and floating in water with a breathing device might become a popular way to sleep. Swimming would certainly be a popular recreation as the water would support your weight (you should still be buoyant).
Pregnancy would be a major risk, even on earth people experience back trouble and other pain from the weight. Even if the pregnancy proceeded normally (and I'm not aware of any studies that would provide evidence either way on that) there would be a high risk of injury and mishap.
The environment would be placing a constant strain on you, so you can expect lifespans to be shortened (weak hearts would be fatal, bones tend to weaken as you age).
So the immediate conclusion is that young healthy adults would survive. Everyone else is in trouble....