The Bible said that there are no tears in Heaven.
However, angels are not restricted to Heaven. Different types of angels have specific jobs to do, and some of them are messengers, therefore they interact with people. Given that they do move between the beauty of perfection of Heaven, and the baseness of Earth, it is possible that they cry, but this is not stated anywhere. We know they rejoice each time a new believer comes to Christ. But the Bible does not say whether they grieve like the Father and Jesus grieve over the lost.
