Some chargers will recharge the batteries, then go into top-up charge mode. With these it's safe to leave the batteries constantly on charge. However, these are usually the more expensive microprocessor-controlled chargers. My favourite for a long time has been
this one.
With a cheap charger, it'll keep trying to charge an already-charged battery at a high rate, with possible results Weeal mentions.
The charger manual will always tell you whether or not to remove fully charged batteries