No and Yes. The answer really depends on what type of apps you want to make, the apps compute requirements, and whether you want support from Apple and its developer community, or some other much smaller (but perhaps specialized in your area of interest) developer community.
For the fastest, most battery efficient (CPU cycles, cache footprint, etc.) apps that track the latest OS features, Apple has spent a lot of resources developing their Objective C and C compiler tools, and usually ships betas, including lots of documentation referencing how to use the new APIs from Objective C, well in advance of most OS releases. The vast majority of iOS example code and tutorials are for Objective C. In many cases, Objective C and C will usually produce smaller apps as well as faster ones.
For encapsulated web app type apps that don't need compiled performance, Javascript is both Apple supported and requires only a page or so of Objective C to run within an App store app. You might be able to use something like the PhoneGap library to help encapsulate your Javascript.
For specialty niches, such as 2D and 3D games (etc.), there are other environments where you can code in other languages, such as Lua, MonoTouch C#, et.al., which Apple recently re-allowed. But you may have trouble getting support for making apps outside the specialty niche of those environments, and support from Apple, if you find some really gritty low level problem in iOS or the UI libraries.
So YMMV.