I haven't played in front of a live audience in, let's see, about two hours now.
I have played in front of several semi-dead audiences too.
Don't have any fear, but starting the first song always inspires a few nerves until I finish it and nobody BOOOS.
I don't ever recall being fearful while playing on stage, but it took a long time to get comfortable singing because I never thought of myself as a singer. Only after doing it maybe 25 years I started accepting the fact that most people think I sing o.k. I still question their judgement, but accept it gratefully.