Sleep on ground in sleeping bag in tent without mattress pad

Hello,
Is it comfortable to sleep in a sleeping bag in tent on ground or grass without a mattress pad ? Is sleeping bag comfortable enough to sleep on ground ?

It is not comfortable to sleep in a sleeping bag on the ground without a mattress pad. The ground is usually quite hard, bumpy and even a grass doesn't make it much more comfortable.

I recommend to get a thicker mattress pad, when planning to sleep in a sleeping bag in a tent.