That's correct, it did access at half speed, which is why using high-density disks in the Amiga was so slow. As I recall, it was because Paula (which handles the floppy disk IO) is incapable of dealing with the data at full speed.
Well, actually data is transferred at the same speed, not half. The disk rotates at half speed. It's the Amiga floppy DMA channel which cannot operate at different speeds. It always writes data at the same speed. So if you want twice as much data on the same disk space, you have to rotate the disk at half speed. If you want to rotate the disk at the same speed, you have to double the DMA rate which is impossible on the Amiga's architecture.
Bye,
Thomas