Is There a Halo Game for Nintendo DS? No—Here Are Portable Options

No. There has never been an official Halo game released for the Nintendo DS, DS Lite, or DSi.

The franchise is developed by Bungie and 343 Industries exclusively for Xbox and PC platforms. While spin-offs like Halo: Spartan Assault and Halo: Spartan Strike later arrived on mobile (iOS/Android/Windows Phone) and Steam, no version was developed for Nintendo's dual-screen handheld.

If you want portable Halo, your options are cloud gaming (Xbox Cloud Gaming on a phone/tablet) or the aforementioned mobile titles (though they are twin-stick shooters, not FPS).