No. When you attempt to use an invalid object, Oracle attempts to compile it. Only if that compile fails will it result in an error.
The thing you have to be careful of is invalid objects with complex dependencies. If the number and layers of dependencies get sufficiently big, the time it can take to revalidate the objects can be exceptionally large. This is why it makes sense to run something like UTL_RP after any maintenance work, to make sure all invalid objects are revalidated. That is why it is one of the steps after an upgrade.