Maybe yes, maybe no. Without knowing the make-up of your roof surface it is hard for anyone to answer you properly. The ice cracking itself does no harm. If your roof consists of a loose material, it may be possible for the ice to cling to the roof surface. As it moves it could be stretching and tearing the surface. This is a cumulative process and may not be visible right away.
Hopefully the roof was installed properly and you will experience no hardships.

Thank you for your reply. To make my situation more clear, the roof surface is covered with a rubber plastic compound, not loose material. The house is about 24 years old and is two stories. There is approximately a 3 inch lip around the roof at the edge and I am concerned that the ice and snow that has completely collected and covered the entire surface of the roof can damage this lip from the pressure of the ice expanding. There are frequent bangs from the second floor ceiling coming from the roof since the new roof covering was installed a couple years ago. I am concerned about any possible structural damage since the bangs have shaken the house at times. Thanks

Thank you for your reply. To make my situation more clear, the roof surface is covered with a rubber plastic compound, not loose material. The house is about 24 years old and is two stories. There is approximately a 3 inch lip around the roof at the edge and I am concerned that the ice and snow that has completely collected and covered the entire surface of the roof can damage this lip from the pressure of the ice expanding. There are frequent bangs from the second floor ceiling coming from the roof since the new roof covering was installed a couple years ago. I am concerned about any possible structural damage since the bangs have shaken the house at times. Thanks

Thank you for your reply. To make my situation more clear, the roof surface is covered with a rubber plastic compound, not loose material. The house is about 24 years old and is two stories. There is approximately a 3 inch lip around the roof at the edge and I am concerned that the ice and snow that has completely collected and covered the entire surface of the roof can damage this lip from the pressure of the ice expanding. There are frequent bangs from the second floor ceiling coming from the roof since the new roof covering was installed a couple years ago. I am concerned about any possible structural damage since the bangs have shaken the house at times. Thanks

Not to alarm you but if the roof is the original it is not inconceivable that it could be damaged. It wouldn't be a bad idea to take a good look at it in the spring for areas that may begin to separate. I doubt if any damage has occured, but, the earlier problems are spotted the less expensive the repair.
As for the lip- ice, as most things in nature, will take the path of least resistance. Since it feels resistance along its sides, it begins to move upward in the middle. As it moves upward it separates with a force that cause the explosion that you here. It does this because of the constant thawing and freezing, due to the sun or lack of adequate insulation on the ceiling of your second floor. There should be a minimum of 6 inches below the Mason Dixon line and up to 9 inches north of it. How is your insulation?
Do you have any? Any other questions? Good Luck!!!