It depends on the breed, size, age of the dog and dental situation. Puppy teeth? Adult teeth? Senior with compromised dentition?
It also depends on the bone. From which species and which part of the anatomy and how does that correlate to the size of the dog and their experience in handling bones. Sorry not to be more specific.
Also, I am assuming you mean raw bones and not cooked?
Nothing in life is risk free so I make judgement calls. As far as I am aware I have had one fractured tooth in the last 25 years. There may have been more but none showed any symptoms.
I used to. I don’t feed bones any more (a shame but we did have 2 fractured teeth, neither of which caused an issue but still).
I leave them with ears nowadays, except the puppy, she is supervised.