They are basically the same pen (electronic-guts anyway), so yup. Also, other than the first few Note series (I believe before the Note 4), the Wacomm tech used in the S-Pen makes every one of them compatible with any other S-Pen-enabled Samsung phone and a few Window computers out there (save for the BT options, which only a few of the newer models have started to implement).
Fun Fact: Remember that one-off S-Model that had S-Pen support but didn't come with the pen? Yup, Samsung was banking on the 'users will buy the tablet and have the bigger pen on hand at all times and can use that instead' assumption. Needless to say, this did not reflect in sales (I do love the tablet line, but it's nowhere near an iPad in app availability/sales, and is also nowhere in the ballpark of the S-Line phone sales).