Do Miners Receive Transaction Fees for a Stale Block?

No, miners do not receive the transaction fees associated with a stale block. The transaction fees are part of the total block reward, which is only granted when the block is successfully included in the main, longest chain.

Since a stale block is discarded, the reward is lost. The transactions from the stale block are typically re-added to the mempool and eventually included in a winning block, where the miner of that winning block will collect the fees.