I agree with Jim - the 70-300 VR begs to be hand held. VR is very helpful and I have used it successfully in situations where non-VR lenses failed.
But if you are photographing distant subjects or close-ups, I do find a tripod or monopod is helpful. I use the 70-300 with extension tubes for closeups of flowers and a tripod is almost mandatory for that use.
If you use a tripod, the lens is a bit front heavy so it does require a good tripod head.