The short Answer: It is safe to do cardio daily.
The use of "intense" really depends on your body. If you build up your routine by starting with 20 minutes of running daily and then the week after 30, 40, etc. eventually getting to an "intense" cardio workout, then it is fine.
Throwing yourself into an intense routine every day without the build up may cause certain muscles or joints to have a hard time keeping up.
Example: I play basketball in the summertime as my form of cardio to lean up. I start with 1-3 days a week, for 1-2 hours. At first, my knees will be a bit sore after playing, and by week 3-4 I am at 5+ days a week, minimum 2 hours a day without soreness.
With cardio (as with many things), the more you do it the better you get at it. It is all about pace (moving up at your body's rhythm) and just being attentive to what your body needs. If you feel you need a day off, take one, but it isn't necessary to do so for cardio. Just make sure your diet and rest reflect the work you are going to be doing (providing your body with the nutrition it needs to keep up).