Technically speaking, no. There were laws intended to limit violence towards slaves, and to prevent its capricious use. In practical terms though, those laws were incredibly weak, and gave wide enough latitude for various 'justifiable' defenses that it had to be a truly monstrous crime to see real consequences. It did happen, but in a bare handful of cases. I discuss legal protections for slaves here, and if you jump down specifically to the middle of the second post, that deals with violence.