No, I've always done that with no issues.
Newer batteries cannot be overcharged but it is not advisable to leave the power cable plugged in when the battery is at a full charge. It will not hurt the battery but overtime your battery will not sustain a charge for as long as it should. My best advice would be to fully charge and let your battery drain to near completion and then recharge. Give your battery the exercise it was meant to have.
