Yes, it is safe to touch yew in the normal sense. The plant only harms you when a part of it gets swallowed, so brushing past the hedge or holding a sprig will not poison you. The danger lives in your mouth, not your hands.
I pruned our Hicks yew hedge bare-handed one afternoon and felt fine the whole time. The needles brushed my wrists and forearms with no sting and no rash. Then the clippings started to pile up, dark green and a little sticky on my fingers, so I stopped and pulled on a pair of gloves. The mess on my hands was the only reason I covered up. The plant never once threatened me through my skin.
The reason for this gap is simple. The poison in yew comes from taxine alkaloids, and those only hurt you when they reach your gut. Your skin acts like a wall here. The molecules are large and the outer layer of your skin blocks them. Brief yew skin contact does not let any real amount of taxine into your body, which is why pruning the plant is far less risky than eating it. You would have to swallow plant material to be in real danger.
Once the taxine does reach the gut, it works fast and hits the heart. It blocks the channels that keep your heartbeat steady, which can throw the rhythm off and stop the heart. That is what makes the plant so feared, even though it sits quiet in so many gardens and old churchyards. The same plant that is harmless to brush against can kill if a child or animal eats a real mouthful of it.
Eating it is a whole different story. Almost every part of the plant is toxic, including the needles, the bark, the wood, and the hard seed tucked inside the berry. The one safe part is the red fleshy aril, the soft cup around the seed. Birds eat that flesh and pass the seed whole, which is how the plant spreads. Even there the seed itself stays deadly, so spitting it out matters. People have been poisoned by chewing just a small handful of needles.
Cut foliage does not lose its punch either. Yew clippings stay poisonous even after they dry out, and they can hold that toxin for months. A dried branch in a brush pile is just as risky as a fresh one. There is no antidote for yew poisoning, so a vet or doctor can only treat the symptoms and hope the heart holds. That is why the real rule is short. Keep all parts out of mouths, human and animal.
Touching yew is fine. Eating any part except the red flesh is the real risk, and clippings stay toxic long after they dry.
A few habits cover you for handling yew safely. Wear gloves when you prune, mostly to keep the sap and grit off your hands. The gloves also stop you from rubbing your mouth or eyes with sappy fingers out of habit. Wash your hands with soap and water once you finish, before you eat or touch your face. Bag the clippings right away so they do not blow around the yard or end up where someone might burn them.
Watch the little ones in the house too. Keep trimmings far from pets, children, and livestock, since a curious dog or a grazing horse can eat enough to get very sick. Horses are hit hard and can die within hours of nibbling a few branches. Never taste or chew any part of the plant, and skip the seed even when the red flesh looks harmless. Teach kids the same rule in plain words. Do not eat any of it. Follow that and the yew stays a fine plant to grow and handle.
Read the full article: Yew Shrub: Complete Care, Safety And Variety Guide