Yes, it would be appropriate to respond with "There is one" Also, the question is better worded as "Are there any restaurantS near your house?" As "are" is a plural form , restaurant must also be pluralised (compare: "there ARE restaurantS" with "there is A restaurant"). Hope I've helped :)

"There is one" is correct. It is natural to add a "yes" first, but not necessary. The full dialogue could either be: "Are there any restaurants near your house?" "Yes, there is one." "Is there a restaurant near your house?" "Yes, there is one." (OK but the word "one" isn't needed). "Is there a restaurant year your house?" "Yes, there is."

"Is there any restaurant near your house?" "Yes, there is"