In the United States, yes, it's legal to use a VPN. Each country has different regulations regarding the legality of VPNs. Your VPN is a privacy tool and you can use it as such. While using a VPN is completely legal, you should never engage in illegal activities while using a VPN.
Using a VPN is completely legal in the U.S. US, Canada, the United Kingdom and most of the world. VPNs are only illegal if you live in Belarus, Iraq, North Korea, or Turkmenistan. However, countries like China and Russia have laws that restrict the use of VPNs in certain ways.
Different countries have different rules regarding the legality of a VPN and what you can do with this privacy tool. VPN services are legal in almost every country in the world, including the US. US, United Kingdom, Canada, Australia, New Zealand and most of Europe. In most countries, including the United States and other Western countries, streaming with a VPN is legal.
If you want to clarify the legality of the VPN or the specific laws of any country, seek professional legal advice. When someone uses a VPN, they usually connect to a server outside the country they're in. Depending on the country, governments can impose fines on both the citizen and the VPN service provider for using an unauthorized VPN. Be careful when using a VPN abroad and look for information about using VPNs in your country specifically.
Similarly, VPNs pose a threat to countries trying to limit and control access to information. Using these VPN servers is perfectly legal as long as you are not physically in one of the 10 countries mentioned above. When it comes to your rights when using a VPN, it depends on the country you're in, how you use the VPN, and the terms of service offered by the VPN. You can watch Israeli TV shows with a VPN all you want, as long as the particular platform you're using doesn't prohibit it.