The quick answer is NO, a hard pull credit report isn't done and nothing shows on your credit report. We can do 15 different insurance quotes for you and nothing would show on your credit report at all. Insurance companies get a "score range" you fall in when factoring for your home and/or auto rates.
But what is called a "hard pull" that shows on your credit report is never done. In my opinion, insurance companies would never be allowed to use credit as a rating factor if that was the case. Consumers credit would be affected, which shouldn't and doesn't happen. I see this question a lot on various consumer credit sites and on insurance related blogs.