Yes. Your child is suffering and it would be cruel to withhold treatment. Many of us felt the same way and deeply regret that we didn't try medication sooner. My DC paid for my reluctance.
+1
There are studies that show that children who don't receive appropriate care for this disability are at great risk for all kinds of bad outcomes (early sex, impulsive negative behavior, failing at school, drugs/alcohol). For a lot of kids, appropriate care is a combination of cognitive behavioral therapy (so they understand their own behavior and emotions) and medication.
We were also terrified of medications but now, at 14, we have been working on meds for 7 years. Sometimes DD has gone off of medication for a new baseline, sometimes we added a stimulant when needed, sometimes now. She outgrew different dosages and methods over the years, and we kept tweaking.
The best year DD ever had in school was 3rd grade, the first year she took ritalin. She gained several years academically, caught up with peers socially and behaviorally. Made all the difference.
Best of luck to you.