Im' not sure he'd say that -- Per Martin-Löf's original work was to develop a computational and predicative foundation for constructive mathematics à la Bishop.

Lean's type theory kinda gives up on that idea: Mathlib gleefully postulates impredicative propositions with the axiom of choice, quotient types, etc. All in all, I'd say that Lean is much closer in spirit to De Bruijn's AUTOMATH project (which pre-dates Martin-Löf!), whose goal was to formalise classical math textbooks using dependent types.