Yes, we need several minutes of strong (near noon-time) sun across a significant portion of the body. More if you don't drink fortified milk. Winter and old age increase the need.
These days it is common for people to avoid the sun and use excessive sunscreen if they do; geeks are not known for their tans. But a few minutes sunbathing is definitely beneficial.
The govt is a tad behind on this, but it has recently upped the recommendations.
Your body doesn't always exhibit signs of something wrong, and there are many instances in which that's it's true and it's too late to take action. I had to get a birthmark removed from my back last summer because it could've been a malignant type of skin cancer. I certainly didn't "feel" anything from it, and wouldn't have known about it until a dermatologist pointed it out to me.
http://ods.od.nih.gov/factsheets/VitaminD-HealthProfessional...