Of course He does! God listens to every prayer that we lift up to Him. If we mean “listen” means God answered is a different thing.
Read what Psalms 66:18-20 has to say, “If I had not confessed the sin in my heart, the Lord would not have listened. But God did listen! He paid attention to my prayer. Praise God, who did not ignore my prayer or withdraw his unfailing love from me.”
As you will see, God listened to David. But “listen” here shows that God acted on David’s prayers. There was an answer. There was a “condition” though that made this possible–confession. We need to confess to God our sins, especially those that we are truly aware of and do it sincerely. We should not confess our sins just because we want to please God and get His blessings. We confess our sins because we love God and that it breaks God’s heart when we are in sin.
And that is when God “listens” or put His ear attentive to our call. God is listening to every prayer but that does not mean that God would give is a “thumbs up” all the time–which is what we usually expect. And when there is unconfessed sin in our heart all the more that God will not listen or not give you the answer you want.
Another caveat, when you have sincerely confessed your sins, it does not automatically mean that you will now get God’s “OK”. God does not deal that way. God wants what is best for us. and God wants our heart to be right when He answers our prayer. That is the most important thing.
Lastly, it is so joyful to find that God is waiting until our hearts are right with His. He will not disregard our prayer. It just get delayed. God listens to us. An unanswered prayer does not mean that He does not listen. Check your heart. There may be sin which hinders God from answering. He is holy after all.