I'm assuming it does/can, but I'm not seeing anything specific in the rules as to how this would normally work in play. Armor is always taking a beating right? I can't imagine having to repair it after every single little battle because it took a hit.
Several monsters in the Bestiary specifically mention dents to armour from their attacks, but normal attacks from most creatures/NPC's aren't a problem. Black Puddings, Adamantine Golems, Rune Giants, Rust Monsters and Smilodons are a few examples.