No, for me these things changed over time. Loving my first kid took a while and then ditto on the second. They have cost us vast sums of money in lost income, truly vast. As I've changed and my kids and changed the only thing I would qualify as a regret right now is not having a third one. We had always wanted two. We had two in close proximity, girls (slight preference for them), and now as my youngest is starting to crank through birthdays I totally understand why people keep having kids. We will not have a third, though. We had thought of adoption but it is expensive, a hassle, and frankly no adopted kid would be as cute as my kids. Truly in all my years of paying attention I have met only one other kid I would truly be happy to take home. Some friends of ours have a daughter who is cute enough to give my youngest a run for her money.
Many people say they don't want kids, some of them never have them. Most of those, I'm sure, wonder what it would have been like and some will regret it. I will never have to wonder if I made the right choice whereas they always will and in this case I chose right. Kids do make you vulnerable, though. If you don't have them your greatest loss is that of a wife but if you lost a kid it opens up something you just cannot experience without it.
BTW, this is a loaded question. Many who DO regret having kids are not likely to admit it because of guilt or shame or whatever. I truly don't think many do regret having kids, though. I have met one person who had three boys and tells others that she wish she never had kids and I do think this is the case. She is a self-centered workaholic.