My dogs are never without their flat buckle type collars. Inside or outside. The only time they come off is bathtime which is once a week at my house for the microdogs and once every other month for the big girl or every time we go out in filthy water or salt water.
All except one small dog. My papillon bitch will not wear a collar. She has a long thin neck and manages to get it in her mouth every time and chew through. I've tried cat collars that were skin tight, two types of buckle type and I've stopped short of a chain collar. I simply don't want to ruin her teeth for sake of her wearing a collar since she's already chipped. So usually she just wears a collar when we go out and it comes off when she comes back home. That way she has my eyes on her and if she happens to make a break for it she has tags to find her way home.

I THINK A DOG FEELS A SENSON OF FREEDOM WHEN IT COLLARS IS OFF, CESERS EVEN STATES THIS ON HIS SHOW SOME TIMES.

Mallory,

I have several collars. I change them every day so:

1) he doesn't associate one particular collar with a particular event
2) he is more comfortable
3) safety

Every one of his collars has 2 ID tags - one with my contact info and one for the microchip info.

If he is left alone in the house he is not crated. He's been an angel since 9 months old. I leave a neon-orange flat collar on him during the times he's home alone. That's the safety part of it.

I work from home so he's usually with me 24/7. During the day I'll put a very, loose choke chain on him. It is never used for anything other than it jingles and helps me know where in the house he is and if he's biting his paws (he has allergies). If he starts to nibble on his paws, I can hear it jingle and I'll go tend to him - allergy pill.

If not the choke chain, he'll wear a fursaver in the day.

I always take his collar off when he goes to bed at night and give his neck a quick, thorough scratching which he loves. In the morning he gets it put back on.

He's microchipped and never bolts out of an open door. My verbal commands or whistles are way more effective on him so I never need a collar on him for those purposes but leave one on during the day just the same.

My GSD has at least a fursaver on at all times. There have been a few times where I've had to get immediate control over him and I think it would be unwise to ever allow him to be naked. Other collars do wear away his fur, so that's the one I settled on for full-time wear. It has his ID tags as well.

The Corgi usually has a collar on, but sometimes not.

Neither of these dogs are "bolters" however, and have no interest in being outside if I'm not. If I had dogs that liked to dart outside, I'd have ID collars on at all times, just in case.