Yes they do. Often in the region of 2-5 days for the 'common cold' viruses. Only influenza viruses have really short (average) incubation periods of about 1.5 days for influenza A and about half a day for influenza B (mostly caught by children).

You can see the science here: https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4327893/