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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 3.3V when arduino is 5V. it will works for a while but one day raspi won't work anymore.

Consider using cheap TXB0104 (sparkfun sell breakboard) which are bi-directionnal level shifter.

they are pretty simple to use and protect your Raspi and Arduino

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