No it is not Necessary. I used to delete apps from the multitask tray all the time thinking that it would slow my device down but it shouldn't slow it down at all actually since it is paused in the background, all it does is save your place of where you were at in the app but it shouldn't be a problem.
Now with the iPhone 5 and bigger ram I don't worry about it anymore and let the multitask tray build up.
I only delete an app from the tray if I wanted to restart the app when having certain types of problems from time to time.