Some say they have updated with an OTA update while rooted w/custom recovery as long as everything remains stock.
Others have had issues getting their custom recovery (CWM or TWRP) to properly flash the OTA file and end up going back and pushing the stock recovery back to the device to get it to work.
The one i heard was that if you are rooted but don't modify the system files(custom recovery) the ota will arrive and work. But if you do have a custom recovery installed on the device the ota will fail.
It should work rooted with a custom recovery as long as all system files are left in place. Worst case it fails and you have to either manually or using a toolkit like Wugs, push the stock recovery then it will work.