Yes, this is a new iOS 10 feature called "Raise to Wake", where you can check notifications on the lockscreen without hitting the power button or home button. I'm not sure if I like it or not myself but I currently still have it enabled.
To turn this off, go to Settings, Display & Brightness, and toggle Raise to Wake OFF.
I've played around with it a bit and it mostly activates when moved from horizontal to vertical (e.g. picking it up from laying on a desk), but not from say, low vertical to high vertical. So depending on how you carry the phone (pants pocket, jacket pocket, holster, backpack, etc.), it may or may not light up unintentionally.