It will not only feel different but it is illegal and very dangerous.
I suggest you get them inflated to the correct pressures ASAP.
If you are not able to do this, call at a tyre depot.
This will also save you on fuel.
It could course the car not to travel in a straight line.
Might do damage to the suspension.
Might be done for under inflation of tyre.
get it checked out.
and to answer the question- sometimes yes- but suprisingly sometimes not at all. If it is a front tyre then you will likely notice heavy steering and pulling to one side. If it is a rear tyre you might not notice for a good while. I drive a Focus Estate- the last puncture I had was a rear tyre. I noticed nothing- some country road stuff and through town. I only found out when I stopped at a junction and someone tapped on the window to tell me I had a puncture. It was pretty damn flat!