Allowing ICMP

There are forum posts on here saying you should allow ICMP. I understand the reasons but wanted to ask a question.

My question
For traffic originating behind the firewall, and being NAT’d through the Mikrotik, do I need to explicitely create allow rules for ICMP on the input and/or forward chains when I already have the “established,related,untracked” rule?

References
http://shouldiblockicmp.com/
http://forum.mikrotik.com/t/ping-my-public-ip/157018/1
http://forum.mikrotik.com/t/understanding-and-fixing-mtu-mss-pmtu-with-ipsec/126731/1