IS A TRIP SHEET REQUIRED BY LAW?
OR IS IT JUST FOR COMPANY RECORD KEEPING.

not required by law AFAIK.

You are required to keep an accurate record of all miles driven in each state. I don't recall anything in the regs which specifically require you to keep a trip sheet as such. A trip sheet basically summarizes each trip and makes it easier to maintain accurate records.

I was just told by the Texas Dot that they required routes driven or else I would have big problems in an audit.

They even gave me the reports to fill out.

It may only be Texas that requres this.

jonboy

You are required to maintain a record of all miles with routes traveled listed. It isn't just just Texas.