It should be safe but it would not wise. You can still get STDs and supposedly my kids were ALL born under the pill. Though have some doubts but that is another story.
When you say "birth control," I'm assuming you mean oral contraceptives (birth control pills). It's important to know that you can get pregnant if you don't follow the instructions carefully. Some women have become pregnant simply because they forgot to take their pill for ONE day.
Having said that, if you ARE using them correctly and have been for several cycles, then your chances of pregnancy are almost nil. For future reference, note that the "pull-out" method isn't effective for pregnancy prevention because the fluid that the penis secretes before orgasm contains millions of sperm, so merely pulling out before orgasm doesn't protect you against pregnancy.
Even if you're relatively safe from pregnancy, you can still contract any number of infections, diseases, etc. from unprotected sex, so it's always good to use a condom just in case. Dr. J