Rules vary from town to town. Some towns require a permit, some do not allow it at all, and some have few restricts. Stay OFF the beach in Pea Island NWR. Stay off the dunes. Those two things will attract more attention than anything. Enter/exit only at the entrance "ramps". Speed limit is usually 25. Carova is pretty nice, a small community just north of Corolla. No paved roads to get there, they are completely on the beach.
http://www.outer-banks.nc.us/newsinfo/randr.htm#bchdrv