There are a number of tall ledges and cliff faces in the game that you can walk right up to, but the game seems to corral you into the "valid" playing space. Are there any locations or situations that do actually allow you to fall to your death, or at least take some falling damage?
I'd rather not be surprised in the middle of combat by plummeting 30 feet and breaking my Shep-legs.
Best Answer
No, there's no fall damage. You have to "sprint" as you approach certain jump points (indicated by a translucent blue arrow). If you walk up to these areas without sprinting, you'll just stop as if you reached the end of the world.
There's no way to plummet to your doom under normal situations.