You can't legally ride a recreational ATV on public streets in Texas—and since they're not really designed for pavement, you don't want to. There are a few exceptions to this rule, and they're all pretty much related to crossing a road. When crossing a road, you need to do so perpendicular to the road, with your headlights and tail lights on, and at place where nothing prevents oncoming traffic from seeing you. You need to come to a complete stop before crossing, and yield to all oncoming traffic. ATV riders can never cross an interstate or limited-access highways. If you're crossing a divided highway (other than an interstate or limited-access highway), you must do so at an intersection.
Check out these Henrietta, TX ATV/OHV resources:
