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I am connecting RasPi (Master) via I2C with Arduino Mega (Slave).

Do I need a level shifter for this or is it non compulsory?

As of now my code runs for some time before I get a Remote I/O Error message and the program stops running.

Could this be the reason?

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RasPi GPIO is 3.3 V while Arduino is 5 V. It will work for a while but one day the RasPi won't work anymore.

Consider using cheap TXB0104 (Sparkfun sell breakout boards) bi-directional level convertors.

They are pretty simple to use and protect your RasPi and Arduino.

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