Is any discharge normal coming from the penis?

Yes: Men can have a clear, occasionally milky, discharge with erections, after erections, and after ejaculation. The clear discharge with the erection is commonly referred to as "pre-cum" and prepares the urethra to carry semen. After erections, some of this pre-cum may still be in the urethra and leak out. After ejaculation, residual semen may leak out. See your doc, if there is pain or continues.