The words "extralegal," or "extrajudicial" mean outside the law in a negative way-illegal actions not sanctioned by law. But what is a word for a practice not mandated by law, but praiseworthy nonetheless. In Judaic Law, for instance, there is an entire tract dedicated to enumerating practices that are not required, but are adhered to by the pious.
Ethical is the first word that comes to mind--a quick thesaurus check using it gave a great list of other words that fit the profile.
enumerating practices that are not required, but are adhered to by the pious
You could say that the pious are following the spirit or intent of the law rather than just the literal interpretation.
a practice not mandated by law, but praiseworthy nonetheless
Doing something not mandated but praiseworthy could be going above and beyond your duty. Though it might be hard to apply to most people without confusing the reader whether the actions are outside the law or their normal duties, unless they are part of the legal system (judges, police etc.)
"Supererogation" is the technical term for the class of actions that go “beyond the call of duty.” Roughly speaking, supererogatory acts are morally good although not (strictly) required.
—sourced from http://plato.stanford.edu/entries/supererogation, a fascinating entry on distinctions between values and duties, for example; cheers.