Knowledge about the potential benefits and possible problems of air duct cleaning is limited. Since conditions in every home are different, it is impossible to generalize about whether or not air duct cleaning in your home would be beneficial.
If no one in your household suffers from allergies or unexplained symptoms or illnesses and if, after a visual inspection of the inside of the ducts, you see no indication that your air ducts are contaminated with large deposits of dust or mold (no musty odor or visible mold growth), having your air ducts cleaned is probably unnecessary. It is normal for the return registers to get dusty as dust-laden air is pulled through the grate. This does not indicate that your air ducts are contaminated with heavy deposits of dust or debris; the registers can be easily vacuumed or removed and cleaned.
On the other hand, if family members are experiencing unusual or unexplained symptoms or illnesses that you think might be related to your home environment, you should discuss the situation with your doctor. EPA has published Indoor Air Quality: An Introduction for Health Professionals and The Inside Story: A Guide to Indoor Air Quality for guidance on identifying possible indoor air quality problems and ways to prevent or fix them.