Logically, there is always some overhead from the host being between the metal and the VM. That, however, is not important. Usain Bolt has been fast on 100m sprint three Olympic Games in a row. Somebody else was always slower. Nevertheless, those somebody elses were still incredibly fast.
The real question: Is a VM significantly slower than the host and is the loss of speed an unacceptable tradeoff despite the gained benefits?
IMHO no. VM is fast enough* and the things that the virtualization allows are worth the sacrifice.
*There are always exceptions to everything.