If it isn't dirty, don't clean it. But how do you know for sure it doesn't have some dirt and you just haven't noticed it. There is a sure fire way to test and know for sure if there is any dust on the sensor. Here goes:
Set focus to infinity on your lens, set exposure compensation at +1, adjust aperture to largest number (f22, f32). Shoot a evenly lit target (white wall, matt board, or cloudless sky). Look at the image in Photoshop (or your favorite editor) Are there dark spots? If you see spots, then you have dust on your sensor. The wider the aperture the less visible are the spots.
After running this simple test, you'll know for sure.
Cheers,
rfs
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