OK so I don't live in England, but I think New Zealand laws are similar... we are still a colony after all.
We have "Queens chain" around most riverbeds, meaning that the Crown owns the waterway up to the high bank. There are maps / GIS showing this detail of which areas are Crown land and which are not.
That land is available to all people, for boating, 4WD, biking, fishing, and aviation. Your situation may not be exactly the same, given the Queen actually lives there and may not want you on her land
