Nope, say you're going 60kmh, you can either be in;
2nd at 4k rpm
3rd at 3k rpm
4th at 2k rpm
5th at 1.6k rpm
Of course not every car will have the same rpm to speed ratio for the gears. But if you were in 2nd and say you wanted to go to 5th, you could.
All you'd have to do is wait a bit longer after clutching in for the rpms to drop to 1.6k to prevent jerking the car.