After your iPad has fully charged, if still connected to the Power Adapter, the iPad will continue to be powered from the Power Adapter instead of draining the iPad battery. While idle, the iPad continues to perform background and automated tasks - for example, periodically retrieving email and performing an iCloud backup.
The power-draw from the Power Adapter is tiny. While it may be reasonably argued that the iPad is drawing power from AC-mains while connected, adding to your electricity bill, the overall contribution to your energy bill is unlikely to be individually measurable.
Also consider that the iPad is drawing power from the Power Adapter that would otherwise have to be supplied from the iPad battery - which would ultimately need to be replenished during a subsequent recharge.