In short: no. The Buddha's instruction is simply to sit "cross-legged, sets their body straight" (MN 10). Full lotus is one way; half-lotus, kneeling on a cushion or sitting on a chair work too. Upright, steady and relaxed is what matters.
"It's when a mendicant—gone to a wilderness, or to the root of a tree, or to an empty hut—sits down cross-legged, sets their body straight, and brings mindfulness to the present."
MN 10
Cross-legged
Kneeling
Chair
Meditation for beginners · Try 3 minutes
Questions people ask
Do I have to sit in lotus position to meditate?
No. The instruction is to sit cross-legged with the body straight (MN 10). What matters is a steady, upright, comfortable posture; a chair is fine.