I would say yes, and I have upgraded, just make sure you have a UDID. I hear that it can stuff it up or something if you don't, but there are ways...
Anyway, for me, iOS7 seems pretty good. Battery has actually turned out alright, and since I use it all the time everyday, it has turned out alright. I've always ended up with more than 70% at moderate usage. Some apps (Clash of Clans and Feedly) don't have their actual icons, its beta after all. Also my iPad (4th Gen) has had many springboard crashes at least 5 today, especially when going to the new multi-tasking.
I would suggest it if you could upgrade without losing data. I think there might be a way too keep your data, but oh well. But be careful when upgrading because one of my friends was updating to iOS 7 and now his iPad won't turn on; it just freezes at the wheel after the new, huge Apple logo.