If you ride a motorcycle even following the speed limit and you fall, even if you don't hit any vehicle you are risking:
- hitting the ground (front or back) so having a concussion or smashing all your teeth
- hitting sidewalks or guard rails
Moreover the helmet lowers the noise given by air flowing, helps you see better at sunrise/sunset, protects you from insects.
I think there's no good reason to avoid wearing an helmet while riding a motorcycle.