yes
perhaps MT Headed is correct when it comes to terminology, i don't know about that. i look at the pathways from branchpoint to branchpoint. if you are talking about "lactic acid fermentation" as glucose -> pyruvate -> lactate (the whole package), then sure you are making ATP. that's what glycolysis is all about. i just have never heard anyone refer to anything past pyruvate as being part of glycolysis, as someone did. glycolysis as part of fermentation, sure, i could see that. fermentation as part of glycolysis, nope.
glycolysis makes ATP from glucose. the byproducts are NADH from NAD+, and pyruvate. in order for RBCs to continue glycolysis and stay alive, they must regenerate NAD+; they have no use for NADH. lactate dehydrogenase is the last step that they must take to get the NAD+ back. the result is lactate, which they excrete.