No. devfs was (is?) a pseudo-filesystem where only special files corresponding to the devices enumerated by the kernel during autoconfiguration are present. The contents are synthesized at boot time and the filesystem is mounted at some canonical location (like /dev), but is otherwise ephemeral. This is in contrast to the older /dev, which is usually just a directory on the root filesystem, wherein one created a number of device files that may (or may not) correspond to an actual hardware device in the system (remember the old dance of, "cd /dev && ./MAKEDEV foo" when you added a "foo" onto your system?). The inodes and directory entries for those files actually exist in the disk-resident filesystem structures (though of course data blocks aren't allocated to those files and the inode doesn't refer to any data blocks).

My understanding is that udev is an elaboration on devfs on Linux that includes a rules engine that supports things like assigning set names to specific devices, setting permissions, group/user ownership and the like. For example, one can configure a rule so that when USB UART device with serial number 0xdeadbeef gets attached to the system, it appears as /dev/console_for_foo, owned by group "fooadmin" and mod 660. Presumably whoever configured that knows that that serial device is physically connected to the serial console for "foo".