Hello SophieLee, yes I agree with what Smrobs wrote. It will depend on the individual horse and their particular hoof situation. Most horses have no problem with pavement, but if there are any gravel or pebbles (here in Maine there is always both because of sanding in the winter months) that could cause ouchy reactions for some.
Both mine are barefoot and will go over any type of terrain without any problems. A friends horses will be fine on pavement, but any gravel or pebbles and they are practically stumbling from the discomfort. They require hoof boots or shoes.
Be the kind of woman that when your feet hit the floor each morning the devil says, "Oh crap, she's up!".