Yes. There is some radiation (about 0.001mSv per X-Ray) but the dosage is safe for routine dental treatment.
Taking X-rays is required to do a proper examination which outweighs the risk associated with any radiation.
Cavities in between the teeth are not visible and therefore we need to take a radiograph (X-ray) to assess for cavities.
When radiographs are not taken the cavity in between teeth will only become visible when it has enlarged to a substantial size or when pain is present, in either scenario the cavity has likely reached the nerve of the tooth.
When a cavity gets to the nerve it will require a root canal to save it, otherwise the tooth will eventually need to be extracted.
Radiographs also help us detect abnormalities which could indicate infection or other diseases like cancer.