Typically, one would expect the performance penalty to lie in the other direction. Recursive calls can lead to the construction of extra stack frames; the penalty for this varies. Also, in some languages like Python (more correctly, in some implementations of some languages...), you can run into stack limits rather easily for tasks you might specify recursively, such as finding the maximum value in a tree data structure. In these cases, you really want to stick with loops.
Writing good recursive functions can reduce the performance penalty somewhat, assuming you have a compiler that optimizes tail recursions, etc. (Also double check to make sure that the function really is tail recursive---it's one of those things that many people make mistakes on.)
Apart from "edge" cases (high performance computing, very large recursion depth, etc.), it's preferable to adopt the approach that most clearly expresses your intent, is well-designed, and is maintainable. Optimize only after identifying a need.