Yes and No.
What you should do as the plants grow is:
pinch out the suckers (new growth between the apex of the branches and the stem) this prevents the plants from becoming to bushy and allows sunlight to pentrate to the tomatoes.
So, I usually don't go crazy pruning branches away unless I have neglected pinching my tomatoe plants. Though, be careful if you do have to prune some branches back and only do a few at a time.