- We just walked/drove past a speed limit sign.
- We just passed a speed limit sign.
- We just went by a speed limit sign.
- We just passed by a speed limit sign.
closed as not constructive by tchrist♦, MetaEd, Cameron, Matt E. Эллен♦, Hugo Oct 5 '12 at 11:52
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As onomatomaniak says, none of them is incorrect, and as far as I've ever heard, none is uncommon.
Walked/drove past, passed, went by, and passed by are all legitimate, understandable, and often used.