I can confirm that a dynamic mic will be perfectly okay with phantom on. My live rig only has a global on/off switch rather than per channel and I've been using that for years with phantom on, to power a DI box, and dynamic mics in several inputs.
I'd agree turn it off before connecting/disconnecting. It won't damage them (or hasn't mine) when done by mistake but as Colin says it's a good habit to get in to.