Those that have purchased 7200 RPM report that they would basically never go back. I personally have never felt particularly constrained by the 5400 RPM drive in my MacBook.
So, yes I believe you will see a performance gain, whether or not you will actually care is a completely other issue. I would also recommend that you compare Apple's upgrade price to the price of the same drive on newegg+an external enclosure. Replacing the drive will not void the warranty, and requires the removal of 1 screw in the new MacBook Pros.