In general, not in the USA, and Yelp's text implies that well. The 1st amendment protects your right to make statements about other businesses. A few caveats:
1. If you use their logo or other artwork, you will likely be violating copyright, and the fair use doctrine is unlikely to apply.
2. Ditto if you grab large chunks of their content.
3. Trademarks need to be acknolweged when used in content.
4. If you provide misleading information, you could be sued. This is America :)