Sorry for the run-on
In short, yes, they did. In fact, I think many would say they still do, considering one must be a lord to sit in the House of Lords (even if only a life-peer).
Let's delve into this further:
Parliament evolved out of the King's council in the 13th century, with clear antecedents going back much further. The civil wars of the reigns of Henry III (r. 1216-1272) and later on Edward II (r. 1307-1327), as well as the beginning of the Hundred Years War under Edward III (r. 1327-1377) were all key events in the formation of parliament as we know it. I'm not going to delve into the history of these periods, but suffice it to say they were very tumultuous, and saw the beginning of a more institutionalized state in England in many respected.
There are a few things to keep in mind about the development parliament:
Like all medieval representative institutions, it came out of the medieval notion of three estates. The first, who prayed -- the clergy, the second, who fought -- the nobility and the third, who worked -- the commoners. In parliament, ecclesiastical lords representing the first estate and secular lords representing the second estate estate met in one chamber, while the commoners met in another i.e. the commons.
This leads us to the second key point, this is probably the most important idea to understand in the post. When we talk about the "commons" we are not talking about Joe shmoe ploying the field here, we are talking about two groups, both of whom fit neatly into what we would consider the be the upper class: knights of the shire, and burghers who represented the towns. Knights held land by lordship and were certainly part of the aristocracy in the larger sense. The difference between and knight and a peer who sat in the House of Lords (that is, a Baron, Earl, or later Duke, Marquess or Viscount) is largely one of degree. The representatives of the towns were part of the wealth bourgeois who dominated these growing population centers. While not gentlemen/gentry like knights and squires, they were very wealthy themselves compared to the vast majority of the population.
These groups were called together in order to grant and legitimate royal taxation, which was key to funding the wars of the 14th and 15th centuries. It was the consistent and endemic need for these, extraordinary (not part of the crowns regular income) funds which led the development of parliament as an institution -- though like I said above, it had clear antecedents much earlier and the first parliament was held in the 13th century, while earlier Great Councils (comprised only of lords) were held from the Conquest onwards.
Please let me know if you'd like any further information, libraries have been written on the subject of parliament so I had to paint in broad strokes, which is quite difficult considering my love 14th century English history and the development of English governmental institutions.
(a few) Sources: -The English nobility in the late Middle Ages by Chris Given-Wilson