No, providing it remains in the pension / drawdown wrapper, there’s not typically inheritance tax to pay on a pension. This is because, technically, it’s at the ‘discretion’ of the pension provider as to whether they pay the pension or not to beneficiaries (in the vast majority of cases, the pension providers pay up with no issue).
Also, the pension is outside of the estate for inheritance tax purposes, being ring-fenced in a pension wrapper held by the pension provider.
The story is different if you withdraw lump sums, or tax-free cash, from your pension and are holding them in vehicles that are typically subject to inheritance tax, such as an ISA or other savings account. These will typically fall under the umbrella of your estate and could be taxable for inheritance tax purposes.
For this reason, it pays to only withdraw what you need, when you need it from your pension pot so as much of it as possible retains the protection of being in a pension wrapper.