Not really. You get upsides like transactions, time travel, upsert/merge/deletes. There is some cost to that, as Delta manages that by writing and managing many smaller Parquet files and has to re-read them to recreate the current or past state of the data. VACUUMing the data set periodically takes time too. So you may incur a little runtime overhead for these reasons; then again, Delta offers advanced features like z-order indexing and data skipping with Spark that also make it faster to read than Parquet.
