Yes, they do, except for rare exceptions, both in The Last Airbender and in The Legend of Korra:
Certain benders are able to effectively manipulate their element with very minimum bodily movement, such as only their head. In even rarer cases, it is possible to perform their bending without the aid of physical movement at all, instead using sheer focus and force of will; a skill known as psychic bending.
This is even the case for the Avatar in the Avatar State (probably because it is easier to bend this way), as seen in the last combat of Aang again firelord Ozai or when Kyoshi uses her metal fans to detach Kyoshy Island from the continent.