Not exactly - it's more complicated than that (https://en.wikipedia.org/wiki/Opengl_es). GLES was originally a simplified spec based on the desktop API, but optimized for mobile and embedded devices. They have since leapfrogged each other and removed (fixed function pipeline) and added (shaders) various features at various times.

The latest versions of ES and GL are largely, but not completely compatible AFAIK, with the desktop having a superset of features.