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I believe it is legal as protected speech (as long as it's not someone else's), but I also believe it is morally wrong and offensive.

However, when researching the proper etiquette in respectfully retiring or disposing of a torn or tattered flag, I discovered that burning it in a solemn ceremony is the way to do so, much to my surprise. In fact, a good friend, Vietnam Vet, retired pastor and Anerican patriot holds a flag retiring ceremony by burning it while saying the Pledge of Allegiance. So I think it's important to distinguish between the two acts (flag burning protest vs flag retiring ceremony).