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In general, for modern vehicles driving in a moderate manner using a lower octane than requited does not physically hurt anything. The computer will retard the timing to prevent detonation (sometime called 'knocks and pings' because that is less scary sounding) and dieseling isn't an issue with electronic fuel injection.
But you probably aren't saving much money. The retardation lowers the fuel economy, reducing or sometimes eliminating the per gallon cost savings. And if living in a high heat climate, or really pressing on the throttle, then you are not only reducing efficiency even more you might exceed the capability of the systems to compensate.
Personally, I wouldn't unless it is cool weather and you plan on driving slow and cautious.
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