That depends. If your phone has a sticker indicating that it can only work with a Rogers SIM, then no. There are no mobile phones sold by carriers that aren't locked imo. You need to have your phone unlocked before you can use your Telus SIM card.
If you want to use Telus sim in your Rogers phone then you need to unlock it.To get the unlock code you can visit Superunlockcodes.com and follow their free unlock instructions.