When both of my cats sleep they start to twitch, all over their bodies. their paws/toes, ears, whiskers, tail, even their sides will all twitch as they sleep. It's cute because it looks like they're dreaming about catching a mouse or something, but it seems detrimental for actually getting rest. They don't do it all the time while they're asleep. More so when they first fall asleep, then off and on while they continue to sleep.
I know it's normal for humans to move around in there sleep, rolling over to a more comfortable position and things like that. But this seems almost too violent of movements to be constructive to getting a good night's sleep. So why do they do this? Are they dreaming?