I think it depends. If I can barely walk/lift my arms then, yes, I take a day off. If I am in some discomfort I will do a workout, but I will scale it back a bit. If it is just a little soreness then I will exercise.
What I will try to do to avoid working sore muscles is working different muscles on different days. For example I will do boxing one day, running the next. If I increase my arm weights one day I will go for a run the next day, if I increase my leg weights then I'll do boxing the next day.
There are no shortcuts. No magic bullets. No secret spells. What works is hard work, dedication, and a daily dose of chocolate.
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