Not exactly, but there are many Torah ideas that are consistent with live and let live. On the other hand, we are supposed to engage in kiruv, loving all creatures and bringing them closer to Torah.
1) “Judge every person favorably” (Avos 1:6)
2) “Do not judge your fellow until you have stood in his place.” (Avos 2:5)
3) There are countless statements of Chazal about the importance of humility, and publicly criticizing other people (the alternative to “live and let live”) isn’t exactly humble.
4) Embarassing another person (such as through public criticism) is considered as bad as shedding blood.
5) I think it was Rav Hillel the Elder who said that no one in his generation was qualified to offer reproof. And that was a generation of spiritual giants!