No it wont. There are two main factors involved here:
First is the speed control of the 1064. It varies the speed of the motor by PWMing the voltage going to the motor. The result being that the voltage being fed to the motor is actually less. For example, at a speed of 50, and an input voltage of 9v, the motor would only see around 4.5v. It would only be after you get the motor past a speed of 80 that the voltage across the motor would actually be above 9v, so in most circumstances, you are well within the safe voltage range of the motor.
The 2nd big factor is the power dissipation of the motor itself. It's not the voltage that hurts the motor, it's the current being pushed through the coils, which heat them up. Your motor specifies a stall current of 12A. This means that when the motor is so loaded down that it's not moving, there will be 12 amps of current flowing through the coils (assuming 7.2v). This equates to 12*7.2 = 86.4w of power. This is the important number. This would be considered the maximum safe amount of power going through the motor.
If you were to run the motor at 9v instead of 7.2, by going a little bit of math, you will find that the mximum safe current through the motor is 9.6A (86.4/9). You'll need to monitor the current consumption of the motor (which is built into the 1064), and reduce the motor speed if you ever saw the current go past 9.6A. That is how you would safely run.
If you WERE running at full power at 9v, stalled, you would pass about 15A of current through the motor, which CAN cause it to overheat, and fail, but if you watch it, this will never happen. I have a motor here that's rated at 12v, but I've run it up to 30v before with light load.. That rated voltage is simply a number saying that "at this voltage, you will never be able to push enough current through the motor to cause it to fail"