Is it okay to have workout rest day?

I workout for an hour and a half every (workout dvd is 1 and half long). Yestersday I had tennis, along with the workout DVD, and then judo. Most days I just use the dvd but Thrusdays, tuesdays, ad fridays I have tennis/judo. Would it be okay to rest today? i feel weak and tired from all the exercise I did yesterday. Is it okay to have a day of rest each week?