I think he should but i'm not sure.
Edit: Forgot the period again.
i m sure he will be able to use it but until now, he didnt use it, cos normally it's an ability which is learnt through years of training. we learnt it from the doctor(or whoever he is) who told coby. this means that, luffy, coby and maybe other exceptional characters learn it by instinct. we know that zoro is a hard worker type, he trains very hard for his swordsmanship and achieve new powers by improving his basic or inborn abilities. i think, haki will be one of these abilities. And, he definitely will learn it because he's the first mate/right hand of the crew which means in the future, he should be at least reigleigh's strength, if not when in dangerous times, how will he be able to help his crew against logia users?-
yeah you're right and not jusst rayleigh but also we saw that ben beckman also frightened logia user kizaru and we know that marco also has haki and first mate. if we use another logic as a proof, the doc told coby that vice admiral class marines have it. so, if zoro cant use it, does that mean he is not at that level(just kidding)