I think the biggest factor is how fast you go. I no longer go faster than 15 mph and usually ride around 10 mph.
Of course, knowing how fall comes with a strong intuition about when you're going too fast to manage a fall without serious injury. How fast is too fast is particular to the individual and their experience.
a "sudden dismount" at 15 mph can annihilate your teeth, or cause severe TBI. Even tripping while walking in the wrong way and hitting your head can lead to death.
If you're going slow, you can maybe skimp on some of the abrasive protection, but you should still have something on your skull and joints.