depends on the battery and the charger. Most chargers have an auto shut off feature and all protected cells have overcharge protection. What are you using?
I have an Icom T90A hand-held radio that has been on charge for at least 5 years the battery still shows 8.2 Volts after a few days rest (tried it recently)
Norm
General rule of thumb is if this is a loose cell it's best not to. While chargers should shut off to prevent damage, some chargers (e.g. the Nano charger) will keep trickle charging which can damage an unprotected cell. As carbine15 said, a protected cell will be fine (it'll just shut down) but you shouldn't really rely on the protection.
Devices with professional li-ion packs automatically shut down - it's safe to leave your laptop or cellphone plugged in and fully charged but it might degrade cell life as Li-ion degrades more rapidly when kept at 100% charge. See http://en.wikipedia.org/wiki/Lithium_ion#Disadvantages_of_traditional_Li-ion_technology for more information about that. Heat is a factor.
This applies to some flashlights too - the Inova T4 can be safely left on the cradle indefinately after it finishes charging.