Speaking as someone who has developed on both platforms, it's definitely my experience. And that includes starting with an Android app and porting it to iOS - half of the stuff I had to add to Android to make it usable I discovered they had already built into iOS. Not to mention the poor choice of defaults, coping with device fragmentation, and the difficulty making Android apps look attractive via-a-vis iOS.
I haven't built ICS apps, though, so perhaps it's getting better.
