Yes they will regrow. The quote below is from Roy L. Caldwell a professor from Berkley that studies mantis shrimp (Stomatopods).
"It typically takes three molts for an O. scyllarus to regenerate its raptorial appendages. After the first molt, the small appendage will have little color and won't have the inflated dactyl heal or large merus. After the second molt the appendage takes on more of a typical shape - just smaller - about half size. It can move, but not strike with the appendage. The third molt produces a functional, but weak appendage that is about 3/4 normal size. After a fourth molt, things should be back to normal.
When an animal loses one raptorial appendage, the molt cycle is not accelerated. However, if they lose both, the process is speeded up.
Roy"