Yes. Under the ADA, only private clubs and religious organizations (including places of worship) are exempted from providing accommodations.
Other places of public accommodation (e.g., stores, restaurants, bars, service establishments, theaters, hotels, recreational facilities, private museums and schools, doctors’ and dentists’ offices, shopping malls, and other businesses) are required to do so.
For more information, check out the “Small Business Primer” at ADA.gov. [HTML, PDF]