In my experience every camera / lens system is a little bit different and you need to adjust your exposure appropriately for the system. My previous two cameras tended to underexpose by about 2/3 of a stop, but my newest camera is only out by around 1/3.
Of course the lighting conditions and the subject will dramatically impact the metered exposure, so this is more of a general impression or an overall average than an absolute. For example, if you are shooting snow or relatively small subjects against bright backgrounds the camera will always underexpose by anywhere from 1 to 2 stops. The opposite would be true for dark subjects.
The good news is that these cameras all have an LCD on the back so you can see right away how the exposure looks. combine that by using the histogram and you have a very powerful tool for getting the exact exposure you want!