Nope.
As of January 14, 2013, all Cuban government-imposed travel restrictions and controls have been abolished.
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Since that date, any Cuban citizen, with a valid passport, can leave the country at will, without let or hindrance from the Cuban authorities. Visa requirements for Cuban citizens are administrative entry restrictions by the authorities of other states placed on citizens of Cuba. In 2014, Cuban citizens had visa-free or visa on arrival access to 61 countries and territories, ranking the Cuban passport 69th in the world. Persons holding dual Spanish and Cuban citizenships are now allowed to travel freely, using their Spanish passport in lieu of a visa for countries normally requiring a visa for the Cuban passport. Moreover, ever since that date, the Cuban government extended the allowable time abroad from 11 to 24 months, allowing Cubans who return within the 24-month time frame to retain their status and benefits of "Cuban Resident of the Interior". Should the citizen remain out of Cuba for more that 24 months, then his status would change to "Cuban Resident of the Exterior" and he would lose his privileges within.
By this change, there is no longer such a thing as "illegal" or "unauthorized" travel, and therefore persons who leave Cuba via unconventional means (boats etc.) are no longer violating Cuban law, and therefore not subject to detention or imprisonment.
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