No! The "it's only me attitude" is why there's so much damage already done to Florida's reefs.
If the rock is wet and "alive" it is 100% illegal to take anywhere. Florida hasn't issued a permit for live rock collection since the 80's (note I did not say aquacultured).
If the rock is dry, it is going to depend on where you collect it. Chances are that "beach" you are talking about is probably a State Park, County Park, etc, where it is still illegal to take. Illegal live rock collection is one of the things FWC officers don't mess around with.
If the beach is private property and it's your own, or you have permission, have at the dry rock.