The answer is “Yes”. Just like two brown-eyed parents can have a blue eyed child because the rh negative gene just like the blue-eyed gene is recessive. Just like two blue-eyed parents cannot have a brown-eyed child, two REAL rh negative parents can never have an rh positive child.
There are however situations where a parent can be a partial-D or weak-D (search this blog for the terms if you need more information). In those cases, an individual can actually show up as rh negative in a test, but really be rh positive.
So do not draw conclusions too quickly when it comes to paternity, but rather bring up the possibility and demand a retest in case of doubt.