I have a really hard time with this sort of question, because I apparently define "pain" quite differently from other people. All I can do is tell you my experience. I've had MS for 24 years, now.
I don't experience constant pain, as I define it. I do have spasticity in my legs, sometimes my arms, occasionally my back and shoulder. My legs are always feeling like they are having "charlie horses". When it happens with my back and/or shoulder, it is quite painful, but brief -- muscle spasm, and then it stops, and the shoulder is a bit sore, until the next spasm.
When I was walking (I now use a wheelchair full time) my legs would ache after walking for longer distances. This would go away upon rest.
I have always experienced tingling and numbness from mid-torso to toes. I don't call this "pain", more "discomfort". Part of it is that I'm so used to it, after 24+ years, that I just don't notice it anymore. When my feet get hot (like, I just came home from driving for about an hour in 90 degree heat...even with air conditioning running full blast in the car, it's STILL hot!!) the tingling is worse, especially around my ankles.
But chronic debilitating pain, pain that requires medication, or even seroius drugs, isn't in my experience.