As Michael and jxpx777 said, Sass only gives you a one-time slowdown. Haml, according to this test , is as fast as Erb (assuming Haml 3 is not slower than Haml 2.2). So the answer is no, it does not slow down all the time.
Haml (like Erb, I guess) has a precompiler, so it does some work up, and then quickly splashes out the rendered views.