Yes, Abraham believed in the resurrection. He knew that Jehovah had revived his reproductive powers and those of Sarah in their old age.
فَقَدْ آمَنَ بِٱلْقِيَامَةِ ،‏ إِذْ سَبَقَ أَنْ رَأَى كَيْفَ أَحْيَا يَهْوَهُ قِوَاهُ ٱلتَّنَاسُلِيَّةَ هُوَ وَسَارَةَ فِي شَيْخُوخَتِهِمَا .‏