Some of it. Human digestion takes biochemical processes mainly enzyeme reactions) to break down food to extract energy and compounds.
The enzyemes we produce are specific to particular bonds and molecules. Some of the food we injest cannot be broken down, such as cellulose, so we derive no energy from that. Many adults cannot digest lactose.
The answer to your question is yes, but some foods are not digestable, so no energy is attained from those.
Do we acquire the energy located in our food when we eat it?