Yes, the Lucifer TV series is based on a comic book series of the same name, published by the DC Comics imprint Vertigo. The character Lucifer Morningstar was originally created by writer Neil Gaiman as part of his series The Sandman in 1989. Mike Carey wrote a spin-off series titled The Sandman Presents: Lucifer in 1999, then wrote a Lucifer solo series for 75 issues that ended in 2006.