All of the above posts make the point clear that there are no "rules" prohibiting you from using your GPS for direct navigation. Since this is in the pilot training forum, just some additional thoughts:
1) What types of airspace would a direct route have you crossing / flying through?
2) Are there long stretches over difficult terrain that you'd cross as a result of the direct route, i.e. mountains, wilderness, or water?
3) What is the weather doing across the route? Would you be better off with multiple intermediate checkpoints/waypoints serving as opportunities to check weather and give you an "out" should things not go as planned?
While you can certainly navigate direct to your destination, I'd say that this would be a pretty unusual practice. When flying a cross country of any distance, most will usually have intermediate fuel stops, may avoid certain types of airspace (class B, MOAs, TFRs, etc), may avoid prolonged stretches over water or mountainous terrain, may avoid weather along the way, and so on...