Yes, but the difference can be hard to see. Efterlade has the strictest definition and is only used in the sense of "leaving something behind without taking it with you" be it an object or a person. The object or person will remain in the original place. "She leaves a note on the table" would use efterlade "Hun efterlader en seddel på bordet".
Forlade is used more loosely as in "going away from something" without specifying what is happening to the object or person as with "efterlade". It often means to simply leave an area or an event as in "hun forlader huset" (she leaves the house) or "hun forlader festen" (she leaves the party)
I hope it makes sense; please ask for clarification if necessary! :)