Assuming standard C, not C++ here:
You should always declare functions static when you can. Only functions that need to be called from external modules should omit static.
It's good programming practice, but is it faster?
Maybe.
On a very large project, compile and link times might be somewhat faster. The few public symbols there are, the less work the linker compiler and linker have to do.
A compiler can do more optimizations on static function than it can a non-static. For instance, it might decide to pass 1 or more parameters in registers, rather than pushing them on the stack. Or it might decide to inline the function, if it's small enough, and not even generate a real function body.
It's questionable if you would notice any real difference from this, except in a very large or very CPU intensive program, but like I said, it's good programming practice anyway.