All the people saying “yes” are incorrect. Running on pavement and running on trails exert different strains on the body, but not less. The tendency in road runners is to end up with tibial stress fractions, and in trail runners it is metatarsal stress fractures, but the injury rates are similar. Trail running requires stronger stabilizer muscles (primarily gluteus medius) to maintain knee health in the long term, but this is a problem for both as well.
Use good shoes, strength train your gluteus medius and calves, do most of your miles at an easy pace, and you’ll be running for decades, regardless of your chosen surface. You might even change it up and do both!
(My credentials are that i am an ultramarathoner and have run half a dozen races between 26.2 and 50 miles, on pavement and trail, and i have been coached by a professional ultra runner for several seasons.)