For most households on a community water system the answer is yes, and the useful part of the question is the exceptions, because they are specific and knowable rather than a general unease. Four situations change the answer, and one of them applies to nearly every house regardless of the supply.
The baseline on a community supply
Community water systems are treated, disinfected and monitored against required standards, and the EPA notes that every one of them publishes an annual Consumer Confidence Report and maintains a finder for those reports. That document states the disinfectant in use, hardness, and the results of required monitoring for the system. Reading it takes minutes, costs nothing, and answers the general question with the actual figures for your supply rather than an impression.
The exception that applies almost everywhere: hot water
Do not drink from the hot tap. Hot water dissolves metals from plumbing more readily than cold, it has been sitting in a heater where sediment accumulates, and on some systems it is not intended as potable at all. This applies regardless of how good the supply is, and it is why every piece of advice about lead sampling and about drinking water specifies the cold tap. The same goes for cooking: fill from cold and heat it.
The other three exceptions
A boil notice or a known contamination event, where the utility's instruction applies until they lift it. Older plumbing that may contain lead service lines, lead solder or lead bearing brass, which the supply's monitoring does not cover because the metal enters between the main and your tap. And a private well, where nothing is monitored on your behalf at all and testing is the owner's responsibility. In each case the water may well be fine; it is simply not established until you check.
What to do about taste rather than safety
Most dissatisfaction with tap water is taste, usually chlorine, and that is a separate question from safety: the chlorine is there doing a job. An activated carbon filter removes it at the point of use, and on a chloraminated supply that filter needs catalytic carbon and adequate contact time. Water that tastes better gets drunk more, which is a fair reason to fit one. Our under sink installation guide covers the formats.
Questions people ask about can you drink sink water
Is tap water safe to drink?
On a monitored community supply, generally yes. The utility's annual report gives the figures for your specific system.
Can I drink from the hot tap?
No. Hot water dissolves metals from plumbing more readily and has been standing in a heater. Fill from cold and heat it.
What are the main exceptions?
A boil notice, older plumbing that may contain lead, and a private well, where nothing is monitored on your behalf.
What if it just tastes bad?
That is usually chlorine and is a taste question rather than a safety one. A carbon filter at the tap addresses it.