Is one who recalls a verse he heard but did not memorize, then recites it and makes a mistake in it, sinful, and does the matter reach the point of disbelief?

Among Allah's favors upon this Ummah is that He has lifted from it the burden of error, forgetfulness, and that which they are forced to do. This is based on His exalted saying: "And there is no blame upon you for that in which you have erred, but [only for] what your hearts intended. And ever is Allah Forgiving and Merciful." And according to the Prophet's (peace be upon him) saying: "Indeed, Allah has pardoned for my Ummah their mistakes, their forgetfulness, and that which they are forced to do." Therefore, unintentional error in a verse carries no sin and does not constitute disbelief.