I am not a lawyer, add salt as necessary.
There are a few instances of people getting sued, but usually your ISP will get a DMCA notice and send it to you and so long as you remove the content they've DMCA'd you're usually fine. I also believe that in Canada there's a $5000 limit to the damages they can recover so it's usually not worth it for them to hire a lawyer, which again, I am not.