EDIT 2: TL;DR: the answer was yes in 2013, but this flaw has been fixed
By following the Getting Started instructions on vagrantup.
I would like to explain why Vagrant is not necessarily as insecure as you might think.
I would like to start off by saying that as I am sure most of you are already aware, it is necessary to maintain open access to the Vagrant box because of the way these boxes are being shared. For that reason, I believe the main security concern is not changing the default credentials after the box is downloaded. Running such a machine in bridged mode would allow someone on the network to ssh in with default credentials.
It appears to me that the idea behind these boxes is that anyone can download it, and secure it once it is in their possession. My vagrant installation replaces default keys with a new, randomly generated ssh key. I am not sure if this is being done with a plugin, however I am curious to know if the password-less sudo and default password also present a security risk.