Just the opposite. The temperature stress on our teeth can crack the enamel, increasing the likelihood of tooth decay. The lining of the stomach is weakened by having to cope temperatures for which it was not designed. And ice-making machines have been found to harbor Legionnaire's Disease and other unsavory microbes. You may drink bottled water, but the chances are the ice that's put in it is tap water.
Ice is a social addiction.
We don't need it, but we've been led to believe we can't do without it. Yet we get nothing from it but an oral stimulation. But every addiction has its cost. Here the cost is unnecessary energy consumption, increased environmental degradation, and possible damage to your health.