Yes, your annual mileage does affect your auto insurance premium. In particular, the less you drive, the lower your auto insurance premiums may be. You'll be asked to estimate how many miles you drive each year when you apply for coverage, whether online or through an agent.
The information in this answer is general in nature and is not legal or insurance advice for your specific situation. Policy language varies carrier by carrier; your declarations page is the final word. If you're unsure, call your agent before you need to file.