Reading the Titan, DS9, and TNG books is definitely helpful, but not necessarily necessary.
TNG "Resistance" and "Before Dishonor" take place not too long before hand, and may help to explain what-all's going on with the Borg.
The folks at Pocket are working a lot harder to make sure that Trek fiction is coherent and consistent with each other. That has its advantages, but sometimes it does make it a little harder to pick things up out of the blue - or to come back to a story where it's been more than a year since the last book in the series was published.
That said, I'm waiting until I have all 3 books of Destiny before I read them all consecutively.
"It's hard being an evil genius when everybody else is so stupid" -- Quantum Crook