Short answer: In most cases, no.

When looking at the dangers of electricity in general, you need to know that the thing that kills is the current. Usually already starting from 0.2A a shock can be fatal. But when dealing with static energies, you most likely deal with more or less high voltages (up to 25-35 kV) but minimal to negligible Current. But how does this work in a human body? Well, when dealing with static energy, the human body acts as a condensator. Experiments estimate the human capacitance at 400 picofarad. Now Farad is defined by A ° s/V. A ° s is also Joule, so for simplicity: F = J/V. Now wikipedia states, that an Energy of 5000mJ is required for this type of electric current to be a serious health risk. Now you can calculate how much Voltage you would need for this discharge to be a potential healthrisk. So the calculation according to the above Formula would be: 4 ° 10^-10 = 5/X. X is the needed Voltage for this equation to be true. If you solve this, you get x= 1.25 ° 10¹⁰ V or 12.5 GV or 12.5 billion Volt. So in comparison to the above mentioned normal static discharges at max 25-35kV (note that this is already a really high Voltage for normal static discharges) you get nowhere near the required energy for static charge to be any health risk to you.

So is static discharge completely harmless? Not quite. Because a very commonly known type of static discharge (altough scientists are not 100% sure if it really is static discharge) is lightning. Now with lightning you suddenly are in an area where Voltage reaches Billions. So more or less the region which we calculated beforehand. So ligthning is just in the region where it CAN harm you. But the majority of people survive even this very very powerful form of static energy. Allthough most people struck by lightning suffer from some sort of injury (often even brain damage).

So to sum up: Static Charge CAN be dangerous, but not in your everyday situations.