Generally, yes. One of the ways they avoid predators if all else fails is to throw themselves off of a branch, inflate, and bounce down to the ground. So a healthy individual can take a pretty high tumble.
Animals that have weakened bones, for example, like chameleons with MBD do risk breaks however. And obviously if they land on a hard edge or something similar they can risk breaking a couple ribs or at least getting a bad bruise, but a fall a few feet off the ground isn't usually going to cause any physical harm.