In case you are still having the issue ... Like another reply said, open Settings and go to Display & Brightness. Below Auto-Lock, look for Raise To Wake and tap its switch to turn it off. I did not have to reboot my phone (6s), but others might.
This had irritated me for weeks until I figured it out. According to the store salesperson, it is supposed to be a feature, an “improvement” made in one of the updates to save you that millisecond of time to wake your phone. Personally, Ibfound it rather silly.