It depends on a combination of several things, and not just bands.
If you have several devices connected, you will have a higher latency, since it will take more time for the router to respond - please read up on time division multiplexing
If you have a dual band router, then separating the devices will result in less crowded bands, hence you will have better latency - please read up on keeping devices on separate band.
Coming to newer devices - AC, they have better radios and these can transfer more data per second, resulting in better speeds and latency is improved as well.
Coming to my home setup, I have a TP Link 740N as main and TP Link 840N as a repeater. Both are running stock. There are 4-5 devices connected and I am getting ping responses of 1 ms to my router.
Coming to your latency, can you tell me the response on LAN?