Yes, they do:) They call it "Estate Jewelry" when they sell it and many jewelry stores have a dedicated display case. Some people just like to trade in their old pieces for credit on a new piece. My mom used to do that all the time.
Ask friends or family if they have a family jeweler they frequent or know to be reliable. It would be good if you had at least some idea of the value of what you are selling - perhaps an old insurance rider or a bill of sale.
In our area there are fine consignment stores that will take jewelry too, but I am not a fan of that either.
Getting an appraisal costs money - but, if you take it to three places in effect you have your appraisal as to how much you will receive. I sold damaged and old pieces I no longer cared for, for an easy $400 while the price of gold was high to a jewelry store in the Mall.
They have to record it and report it and it took longer for the paperwork than settling on the price.
I had a vintage set that he really wanted and offered me a good price for, but in the end I kept it for sentimental reasons. You don't have to feel obligated to sell it all right then and there - you might be surprised how little you get for one thing and how nice of a price for another. The final decision which pieces to sell is still up to you - all you do is ask what they will give you for it.
I had two nice pieces (so I thought) that they had no interest in.
There are also a lot of jewelry stores that will take it strictly for the gold value, but you might miss out if you have a fine gemstone. There are places that specialize in fine jewelry, appraisals and estate auctions - worth including in your search. Most likely you will find that they will all test your jewelry and give you a price - and out of three jewelers, they will all be relatively close.
I have no experience with pawnshops, but I'd be afraid some big burly dude would walk to the back with it and replace my diamond with a quartz gemstone, just saying. Never give over your jewelry - ask to be present for testing.
Make the rounds - it is a business deal, smile, negotiate and don't take the first price offered.
Hope that helps.