No, there is no need to wrap the navigation <ul>external <div>. In most cases that I have seen, people use it only because they have the habit of wrapping everything in div( divitis ).
However, in some cases it becomes necessary to wrap divaround a navigation list. For example, if you want to apply several backgrounds - one on the div and the other on ul, the managed one is padded / margined yourself.
An additional div can also be used to properly structure your document.
html5 <nav>, , , , (, ), , <nav> (, , ) , , <ul> , |.