Image: Chart centered on Raleigh-Durham Airport, NC.
US National Airspace System
Where can I fly my drone? - This diagram summarizes the US National Airspace System, where drones can fly within it, and when and what permissions are needed. This is a cross-sectional view that meshes with the top-down view shown in aeronautical charts.
Class A - (Above) - from 18,000 feet above mean sea level (MSL) to 60,000 MSL
Class B - (Big) - from surface to, typically, 10,000 MSL around the nation's busiest airports, then surrounded by shelves at increasingly high levels - see diagram above. The shape of Class B airspace varies by airport, but can extend up to 30 nautical miles out. You need clearance to fly a drone in this airspace.
Class C - from surface to 4,000 feet above ground level (AGL) within 5 nautical miles of the airport; and from 1,200 feet AGL to 4,000 feet AGL withing 5-10 nautical miles of the airport. You need clearance to fly a drone in this airspace.
Class D - from the surface to 2,500 feet AGL within 5 nautical miles of the airport. May have "bump-outs" to accommodate local conditions. You need clearance to fly a drone in this airspace.
Class E - (Everywhere) - begins at 1,200 feet AGL in most places, 700 feet AGL in some places, and goes all the way to the surface in other places. Class E that extends below 1,200 feet AGL is mostly around general aviation airports. Knowing when you need clearance in Class E is a little tricky. The airspace above 60,000 MSL is also Class E.
Class G - (Ground) - from the surface to the beginning of Class E airspace. This is where most Part 107 drone activity occurs. In the Eastern US, Class G usually ends at 1,199 feet AGL; in parts of the Western US, Class G extends to 14,499 feet AGL. [ More details. ]
Aeronautical Charts
Aeronautical charts show the US National Airspace System in a two dimensional view, looking down from above.
Inner ring of Class C airspace around Raleigh Durham Airport.
Air Traffic Control Authorization (ATC) is required to operate in Class B, C, D, & in most cases Class E to-the-ground airspace. It is not required for Class G airspace, but I would not fly near a Class G airport without talking to airport management.
On aeronautical charts, the big, ticked boxes are each 30 minutes of latitude (vertically) by 30 minutes of longitude (horizontally). Two boxes in either direction is a degree (there are 60 minutes in a degree).
The smaller ticks are each 1 minute.
A 1 minute change of latitude is a nautical mile everywhere on the globe, because lines of latitude are parallel to one another - the distance between them is consistent.
The distance between minutes of longitude changes with latitude, because lines of longitude are not parallel - they converge at the poles. At the equator, that distance is 1NM; at the poles it's zero. At 35degrees latitude (which passes through NC), each minute of longitude is 0.82NM.
So if you want to measure the distance between places in nautical miles, use a scale that matches the ticks that run vertically up and down the chart. You can make one on the fly (haha) with the edge of a piece of paper.
Special use airspace is designated for specific purposes, usually military or security related. You may or may not be able to fly within them, depending on the particular use. To find out who manages the area, you have to look at the specific sectional chart for the area which has the information in legends along the edge of the map.
Prohibited (P)
No flying.
Restricted (R)
Must have permission to fly from managing agency.
Warning (W)
Must have permission to fly. Usually along coast.
Military Operations (MOA)
You may fly here, but with extreme caution and probably wise to avoid. Hours of operation shown in legend
Alert
Areas of high volume of aviation activity - training, gliders, parachutes, etc. You may fly here, but should be ... alert!
Special Flight Rules (SFR)
As suggested, there are special rules for flying in these area. The most prominent is around Washington, DC. Permission is required.
Controlled Firing (CFA)
Areas for detonation of explosives on the ground (not fired from aircraft). These are not charted because the operating agency is to suspend operations whenever an aircraft is in the vicinity.
FAA Aeronautical Charts - Includes links to all charts and a user guide that describes what all the elements and symbols on the charts mean.
So ... where can I fly my drone?
The FAA allows you to fly in Class G airspace without authorization so long as you stay at or below 400 feet above ground level (AGL).
You must have Air Traffic Control (ATC) authorization to fly in Class A (Denali and Mt St Elias in Alaska are the only two US mountains piercing 18,000 feet), B, C, D, or E airspace.
You may encroach into Class E airspace if you are flying above a structure and are within a 400-foot radius of the structure and no more than 400 feet higher than the structure. Check carefully before flying in Class E any other time.
Many smaller airports are within Class G airspace (often with Class E starting at 700 feet AGL). Although you legally can - the rules say you should not interfere with crewed aircraft (107.43) - you really should not fly there without permission. General rule - don't fly near airports without talking to the airport manager. You can find contact information in the Airports section of AirNav.
BUT ... there is also Special Use Airspace that you must be aware of and generally avoid. You may not operate in prohibited or restricted airspace without permission. You must also comply with all Temporary Flight Restrictions (TFRs).
AND ... there are state and local rules to be aware of. The FAA has a No Drone Zone program for state, local, and tribal governments - but you cannot count on these zones being marked.
FAA UAS Data Delivery Service - has a map-based view of drone-relevant information, including the location of FAA Recognized Identification Areas (where you can fly drones without remote ID).