Land in Britain is typically owned by someone. So, if you want to partake in a bit of 'wild camping', you'll need to get explicit permission from the landowner. If you don't, you could be in breach of the law.
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Near a public highway: As long as your vehicle is not causing an obstruction, there is no law against sleeping in your car overnight. On private land: in general, you should seek permission from the landowner.
First and foremost, it's important to note that wild camping is not legal in England and Wales. This means that you cannot simply pitch your roof tent wherever you like and camp for the night.