Yes it is similar. The direct translation of 良くやった is well done or you did a good job while the English equivalent of お疲れさまでした is good job. These words are similar but do not always mean the exact same thing. お疲れさまでした is more of a polite but obligatory statement while 良くやった sounds more causal and is more of a personal observation. I hope that makes some sense. It is a little tricky to explain because we do not uniformly use a salutation similar in function to お疲れさま (an acceptable but more causal abbreviated form) in the English language.
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