Yes and no. The torque in helicopter is primarily a side effect of power being applied to the rotor. When a helicopter auto rotates (such as after an engine failure), the pilot has to remove anti torque forces with the pedals. This remains true even when you change pitch to slow your descent to the ground. So as long as no power is being applied, if you are in a free descent with a constant rotation on your rotor, then no, you will not need anti torque.

Source: I am a helicopter pilot.