Generally the answer is yes for older vehicles, as diesel engine oils have higher detergency levels. It is important to refer to the vehicle manufacturers handbook to establish exactly which specification of oil is required. This is vital if your car has extended service intervals and you are still within the warranty period.
However the latest trend on new vehicles is to use the same formulation on petrol and diesel versions. Many of the engine oils produced by Millers Oils are suitable for both diesel and petrol engines.