At face value, John, to me it means the opposite. “Never regret not taking the adventurous decisions.”
The things you didn’t do? Maybe they were missed opportunities, but maybe not. Maybe they were best left alone. It’s all water under the bridge now, so there’s no point in spending time and effort on regretting what might have been.
To mean “Don’t regret being adventurous” I think your line would have to read something like:
“Don’t ever let yourself regret thoee wild decisions made.”
You’d have to play around with that if you’ve got a rhyming scheme to maintain.