Yes. Rest days are when adaptation actually happens, and they reduce injury risk. Rest does not mean lying still; light walking and easy mobility work usually help you feel better than complete inactivity. Most people benefit from one to three easier days per week.
Training provides the stimulus; the adaptation occurs afterwards. Muscle protein synthesis stays elevated for a day or more after a session, connective tissue remodels on a slower timescale again, and the nervous system recovers from the demands of heavy or highly technical work. Removing rest removes the part of the process where you actually improve.
Gentle movement increases blood flow and generally reduces soreness more effectively than doing nothing at all.
Training three or four days a week already provides rest days by default. On five or six training days, at least one full rest day and one deliberately easier session is sensible. The right number depends on training intensity, sleep, age, life stress, and how well you eat, so it varies between people and across the year.
Performance drifting down over two or three weeks, persistent soreness, disturbed sleep, a rising resting heart rate, low motivation, and frequent minor illness all point the same way. The fix is a planned reduction in load rather than pushing harder.
Beyond individual rest days, a lighter week every four to eight weeks, with reduced volume and moderate loads, lets accumulated fatigue clear. People often set personal records in the week after one. This is covered in more depth in Recovery Science and Adaptation.
Time away from training also protects long-term adherence. Feeling obliged to train daily is one of the more reliable routes to burning out and stopping altogether.