Yes, you will need to pay stamp duty to Service NSW within 14 days of the delivery of your car.
For more information about stamp duty and how it is calculated, visit the Service NSW website: https://www.service.nsw.gov.au/transaction/check-motor-vehicle-stamp-duty
Revenue NSW also provides a handy online stamp duty calculator to give you a more precise estimate. https://www.apps09.revenue.nsw.gov.au/erevenue/calculators/motorsimple.php