Yes.
Though I think that's part of the point.
Firstly, it's not a dystopia, it's a deconstruction of the idea of Utopia, a society where everyone is happy and content.
Secondly, the book isn't just a "bad future", it's a satire in the very old tradition of using science fiction as satire (which is still alive today).
* Fordism is an exaggerated parody of what we would now term charismatic Christianity or the Pentecostal movement.
* The "feelies" are a parody of Hollywood films. Believe it or not, 1930s Hollywood was often accused of pandering to its audience and of generally being mindless (in many ways it actually probably was more so than today).
* The 'alpha', 'beta', 'gamma' caste system is a rebuke of Eugenics, particularly its application to the British class system. Eugenics was still a very popular idea in the 1930s.
* The use of the zipper and "everyone belongs to everyone" is a parody of the idea of "casual" consensual sex, which first appeared in the 1920s and was a massive moral panic at the time Huxley was writing.
The basic criticism is that all "meaning" in the society has been replaced by sensation. People worship, but they're not worshipping anything, they're worshipping for the sense of religious ecstacy. People go to feelies, but they're not watching complex drama or Shakespeare, they're going for the sex scenes. People have sex not because they choose or because they feel for each other, but because their society renders them incapable of denying consent. Ultimately, people feel pleasure all the time so it has no meaning, there is nothing special about it, they have no suffering or pain to contrast it against.
People are so desensitised from meaning that when the savage descends into madness at the end and attacks Lenina (who for the first time in her life is crying real tears) with a whip, people cheer him on because they're no longer capable of understanding suffering as anything other than a voyeuristic spectacle.
I think that's pretty dystopian, it's effectively a world in which you kill time until you die, and the greatest joy in life is being as numb from it as possible.
You don't have to agree with everything, it's a mercilessly puritan book by today's standards, but I think if you'd honestly like to live in that society (or aren't a little disgusted that in some ways you already do) I would start to worry a little.