Energy in the technical sense has always been a human right as we would literally die without it (ATP production kind of requires it and sunlight tends to power food production too)

If by energy you mean electricity or chemical energy in convenient containers (like butane canisters) then no but improving access would extend lives and reduce the total environmental pollution if done properly. As there is not an upper bound on how much every one could claim they need and lack of access to energy efficient options would make the lower bound insufficient for most people to live off.