As Benjamin Franklin famously said, “In this world, nothing can be said to be certain, except death, taxes and storyboarding.”
In reality, Mr. Franklin was wrong. No, you don’t have to storyboard if the situation doesn't call for it. Storyboarding is most useful when you have a specific vision as to how your shots should look, and you need to communicate that vision to someone else. That someone else may be the person who’s running your camera for you (because it’s hard to shoot and direct at the same time), or a client who just can’t imagine what a video will look like without visual aides. If you don’t feel that kind of communication is appropriate, it’s fine to skip the storyboard.