Most atoms have an ionization energy of a few tens of electron volts. Beta decay electrons typically have a range of energies, with the mean and maximum energies typically a few million electron volts; the probability that the electron energy is small enough to be captured is pretty small.
In addition, the daughter atom cannot capture the decay electron unless there is a spot in the daughter atom for the electron to live. The daughter atom must have an unoccupied $s$-wave electron orbital, since the wavefunctions for the $p$-wave, $d$-wave, etc. orbitals all have a zero at the nucleus. Furthermore, of the $s$-wave wavefunctions, only the $K$-shell (innermost) actually has a maximum within the nucleus; all the wavefunctions with higher principal quantum number will have reduced overlap with the beta decay electron, and therefore reduced probability for the decay electron to appear in the bound state.
These considerations make the most likely candidates for beta decay to a neutral atom limited to the two nuclides with a vacancy in the $1s$ electron shell:
\begin{align}
\mathrm n &\to \mathrm H + \bar\nu_\mathrm e\\
{}^3\mathrm H &\to {}^3\mathrm{He} + \bar\nu_\mathrm e
\end{align}
I don't believe either has actually been observed. There is a current experiment searching for the neutron decay to neutral hydrogen.
So, the answer to your question is yes: an atom is usually charged after a decay, and beta decay to a neutral daughter atom is a rare and interesting occurrence. Most likely is that the daughter atom will have charge $+1$ as the fast electron departs; it is even possible for the beta electron to knock bound electrons free of the nucleus, leaving the daughter in higher charge states and emitting X-rays as the ion cools down.