Does Allah accept the repentance of one who lies to his friends and people without justification?

Yes, Allah accepts your repentance if you fulfill the conditions for its validity: regret for what has passed, abstaining from the sin out of fear of Allah and seeking His pleasure, and a sincere resolve never to return to it. If the lie caused harm to someone or deprived them of their right, then you must seek their forgiveness or lie to yourself to restore their standing or remove the harm.