yes and no

Depends on how old you are and what company you rent from. If you're under 21, there will likely be a surchage, if you're older than 21 but not yet 25 there will probably be some sort of deposit (charged to a credit card or something) that will be returned to you once you return the car. Some companies don't have even that. Just look around, you can find good deals without absurd restrictions.