I see this question a lot and the answer is usually "no." If you are asking, you are probably just looking for a way out. Searching for permission or justification doesn't make it ok. It just gives you the excuse you were looking for.
There have definitely been sessions where I felt like a bag of smashed sphincters. Sometimes I am able to rise to the occasion and do some awesome lifting. How would I have ever known that if I just took the day off.
Now, I have benched over 600 lbs raw and I specifically remember a time when 365 felt stupid heavy. Can you say "Houston, we have a problem." So I just cut off the main work and moved to some assistance. One time it was so bad that I just moved on to super light work. I played around with different exercises and ended up performing lots of band flyes and 5 lb dumbbell ytwl's. I felt incredible afterwards. As a result I have incorporated those movements into my warm ups before every session. It has helped my biceps tendonitis and the arthritis in my shoulders immensely.
By getting to those training sessions mentioned above I learned a lot about myself. That doesn't happen if you simply stay home. So get yourself to the gym. If you really don't have it that day, perform some light work. Do some extra stretching or recovery. Work on some gpp or conditioning. I am a firm believer in the cumulative effects of training. I am not a believer in the cumulative effects of sitting on the couch.