Kind of. He always tries to kill Batman, but he can't succeed because it's a kid's cartoon show... well, that, and he's the goddamned Batman. Although it still applied to everyone else. He can't kill any bystanders, hostages, cops, or anything. So he's basically left to wacky capers and goofy shenaniganz.
Have you ever watched Batman Beyond, Return of the Joker? I like it as an animated movie, and they don't pull so many punches with the Joker in that one. Also, I've seen two different versions. My DVD version has slightly different footage.