Yes. You'll need to get a permit from your local Council. They'll charge a small fee for the skip to be on the road. Some hire companies will do this on you're behalf, so it's worth asking them.
If your having a company to do the work, the hire of a skip and permit is often included in the estimate. Ask the company to be on the safe side.
A licence is not normally necessary if skips are placed on private land ie; your drive, front garden, but check it out with the council just in case they do require one.