No you don't. If you are confident that your normal W-2 withholdings made by your employer based on the W-4 you filed with that employer, will cover your tax liability for 2017, no quarterly payments are necessary. Otherwise, if you think you will OWE taxes when you file your 2017 return, you still don't have to make quarterly payments.
But in such a situation (which only occurs mostly for those self-employed) if you end up owing more than $1K in taxes when you file your return, then the IRS will assess a penalty for not making quarterly payments, or if those quarterly payments were not enough.