No, definitely not.
(unless things have changed in the last 3 months)
As far as other paperwork goes, V5 (original and copies)
Several passport stylee photos
Route Itiniraire (Bullshit on that one....all they want is to know you're not a vagrant)
Yellow fever vaccination certificate
Valid insurance cert translated into French
Visa if necessary
Passport with 6 months to run (durrr)
Driving license with French translation of entitlements (AA will provide, if you don't have one)
MOT cert NOT required, but like most African countries, they LOVE paperwork, so the more you take and the more it looks official, the better...I've still got bits of paper with three stamps and three signatures that make them 'official' but it was all made up info that went 'up the line' at the border post.
Oh, and take a printed copy of the British embassy contact details with the crest fully visible....just have it where it can be seen, but don't use it
EDIT....I think that legally, you HAVE to have the in and out stamps from Mauri, but you'd have those anyway, unless you're heading north from The Gambia or Gineau Bissau