Yes, especially if your baby has fallen asleep while feeding. Never wake sleeping babies!
Some babies take in a bunch of air while feeding, but some don't. As a result, some babies become very uncomfortable after feeding if they do not expel some of that ingested air.
Gentle "burping," usually with soft pats to their backs can be helpful and make them more comfortable. However, not all babies swallow air or become uncomfortable after feeds. For those babies, there is no need to burp with any regularity. Parents often worry about what to do when a baby falls asleep while eating. Never wake a sleeping baby!