The simple answer, most of the time, is no. The majority of the time when you have a dead battery, a simple jumpstart to recharge the battery will do the trick.
Oftentimes, a battery will die if your car has been sitting inactive for a long period of time or perhaps you left an interior light on by accident. As long as the battery can still hold a charge, it does not need to be replaced.
However, if you notice that your battery is dying frequently and no longer holding a charge, it is probably time to replace the old battery.