When the battery is fully charged, the charging circuit in the phone stops charging the battery. If you leave it on the charger for a few days, it's going to drop a little charge (even if the phone is off) and when it drops enough the charging will turn on again and top the battery off - so when you finally unplug it, the battery will still be fully charged.
You should always leave the charger on for about 30 minutes after it reaches full charge anyway. The way state of charge is measured gives you a 100% indication at about 98% charge (which is why, if you unplug the charger the moment it indicates 100%, it will usually drop to 98% almost immediately).
I've left phones on chargers for months at a time (sometimes, in a busy shop, you plug in a phone under your desk or somewhere else you don't often look - then forget about it) with no ill effects.
About the only risk - and that's whether the battery is charged or not - is that the charger can decide to go bad any time, and start a fire. The longer it's plugged into the wall, the greater the odds, but we're still talking about fewer than 1 charger per day doing that in the entire world - much less than 1 per day. Your TV, toaster, refrigerator, lights - everything powered by electricity - carries that risk. And you don't unwire the lights in the ceiling when you're not using them, but fluorescent ballasts go bad more often than phone chargers do.