Yes, the Halo franchise is better than the Call of Duty franchise for its focus on heroic storytelling, whereas the Call of Duty franchise has fallen more and more in to being only about the multiplayer. While the Halo franchise has superb multiplayer as well, its focus on a cohesive narrative in the single-player mode puts it streets ahead of the Call of Duty franchise.
Both series are overrated, but Halo much more so. If you look back at Halo 3, for example, that was a legitimately bad game. Not "bad for a Halo game" or anything like that, as a video game it was objectively horrible and it still got praise from the masses because of the title. Call of Duty has had a lot more hits than misses and has more expansive multiplayer, plus the campaigns, while completely unfeasible are a lot more thought out and interesting.