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.
my cham just fell for the first time today, well he fell once in his sleep also, anyway he was fine. he tried to walk on my pvc fence outside and fell right off and came running up my leg to my head like a kid who just found out not to leave there parents side the hard way lol.