If the spaces involved are CW-complexes*, then yes. As $F$ is contractible, the long exact sequence in homotopy groups shows that $p_*: \pi_n(E) \to \pi_n(X)$ is always an isomorphism. The Whitehead theorem (that a weak h.e. of CW-complexes is an equivalence) now shows that $p$ is a homotopy equivalence.
*or even homotopy equivalent to CW-complexes