The answer is NO.
I believe the Biblical record contains about every kind of prayer you can imagine, from spontaneous to formal, from long to short, from ragged to elegant. Every sort of mood and emotion are evident. There is not a set order (the Lord’s Prayer starts with praise, but often the Psalms start with a complaint and end with praise.)
What I am saying is that the Scriptures should be in our spiritual tool kit – they can show us words we can use, promises and concepts we can grasp, forms we can follow and rich variety.
I once heard a wood-carver say, “I have over 200 tools, but I use about 12 of them 95% of the time.” Often we keep our use of our tool kit down to one or two, or worse yet, we keep the tools in the tool box and go watch someone on This Old House use their tools.
Don’t be that guy.