No, you do not need to verify your card before you can make a withdrawal.
You may see a 'Verify my card' tag on your card in the deposit section. If you would like to verify your card for your security, please follow the steps as outlined. This will not, however, have any impact in being able to withdraw.
If you have withdrawable funds, you will be able to withdraw them whether or not you have an un-verified card on your account.