Yes they did.
“Abortion was considered sinful, but the situation was more complicated than might be supposed. Medieval people did not think that early-term fetuses had souls, believing them to be alive but unconscious, like vegetables. Early-term abortion was thus not considered homicide, and was not punishable at common law, though a church court might impose a penance like regular fasting or almsgiving. Late-term abortion was thought to be a kind of homicide, but was not normally punished at common law either. This distinction persisted until the nineteenth century.”
https://worksinprogress.co/issue/did-medieval-people-love-their-children/