No, it will have to be an out-of-warranty replacement. The warranty covers manufacturing defects, not accidental damage which is an insurance issue. If it has Applecare+ this may be covered under the $49 per incident cost.
Replace broken screen on i-device - https://discussions.apple.com/thread/3869709 - lllaass post. Similar one at https://discussions.apple.com/thread/3925666
Repair Pricing section - http://www.apple.com/support/iphone/service/faq/
iPhone model Out-of-Warranty Service
iPhone 5 $229
iPhone 4S $199
iPhone 4, iPhone 3GS, iPhone 3G, Original iPhone $149