You may or may not.
As most servos the JR is rated at 6V but it may tolerate more voltage and again it may not. I have fried enough JR servos using 6V or less that I would be very leery of dumping 7.4+ volts into it.
So to be cautious and if you are worried about frying the servo then I recommend the regulator. Also not all Rx can take 7.4+ volts.