The play itself does not contain any explicit descriptions of sex between the two characters. However, there are several passages that could be interpreted as suggesting that they did have sex. For example, in Act II, Scene II, Juliet says to Romeo, "My bounty is as boundless as the sea, / My love as deep; the more I give to thee, / The more I have, for both are infinite." This could be interpreted as a reference to the physical act of lovemaking.
Furthermore, in Act III, Scene V, Romeo and Juliet are discovered in bed together by Juliet's nurse. The nurse is shocked and says, "O Romeo, Romeo, wherefore art thou Romeo?" This could be interpreted as an exclamation of surprise at finding them in bed together.
However, there are also passages that could be interpreted as suggesting that Romeo and Juliet did not have sex. For example, in Act II, Scene II, Romeo says to Juliet, "I am too sore enpierced with your shaft, / To soar with your light feather." This could be interpreted as a metaphor for sexual desire, but it could also be interpreted as a simple expression of love.
Ultimately, whether or not Romeo and Juliet made love is a matter of individual interpretation. There is no clear answer in the play itself, and different readers may come to different conclusions.