What Jackson Haines did was to create the concept of figure skating as performing art by bringing his knowledge from his off-ice career as a dancer onto the ice, both on his own and with costars.
He did not create "ice dance" as either a partnered or a solo competition discipline. But his performances showing waltzes and other dances on the ice in the 1870s contributed to skaters in Vienna and elsewhere taking up waltzing etc. on ice in couples as a social pastime, which eventually led to the beginnings of (partnered) ice dance competition.