No. If for instance you forget to remove your lenses before sleeping, you might wake up with sore eyes and potential annoying irritations. There’s a very low risk of something dramatic happening after one accidental night with your lenses in but the long term effects can be a bit more harmful. When your eyelids are shut for a while, your eyes receive less oxygen. Deprived from hydration and oxygen, the lenses can dry and lose moisture, making it particularly uncomfortable. This usually causes redness and irritations but keep in mind that more serious eye conditions can develop if it happens too often.
When you wake up, remove your contact lenses immediately. If you are worried your pain is persistent, then consult your eye doctor or GP as soon as possible. If you want to be able to wear contact lenses while you sleep, then speak to your optician for advice on extended wearing pattern contact lenses.