Yep, mine does this too, maybe once every ten unlocks. Seems to happen more often when I power on and then put my finger on the reader more quickly than usual. Maybe I'm actually touching the ID sensor twice as the person in this thread mentioned earlier?
Returned the phone to an Apple store and was given a replacement, but after 2 days the new phone started doing the same thing (but less frequently, maybe once in every 30 unlocks). Weird because my wife's 5s has never had this problem--but she doesn't use the Fingerprint ID very often.
One surprise with the replacement--the battery lasts WAY longer! With both phones I had all settings the same, including background refresh (Off) and Reduce Motion (On). Basically I used settings to save batter life and with the first 5s I would get maybe 2 days of charge, but with the replacement I easily get 3 days. Dramatic difference. I don't know what's going on with that but I suspect somebody at Apple does.
For now I'm just living with the annoyance of a Fingerprint ID that crashes my OS once in awhile. Also seems strange that this isn't being reported more when I received two phones and both had the same issue.