Yeppers. Well, actually, it depends on how you board. If you send out people in suits, they'll obviously see there's nothing there.
If you launch a shuttle and attempt a hull-to-hull connection, your sensors will indicate that you're coupled although there won't be any type of impact shudder.
If you use some type of "sleeve", again, it will indicate a connection although not connected. Don't worry, as your people will most likely be in environmental suits they won't die once the airlock is opened, though they might be blown out of the sleeve due to the rapid decompression once the airlock is opened.