If it came with doors from the factory, it must have doors on it. The above your hips is not accurate.
CJs and MBs came both with / without doors, so it's OK to not have them. TJs and JKs all had doors, so it's NOT OK to run without doors.
However, it's completely up to the discression of the cop. If you're legal looking (mudflaps, quiet exhaust, not bashed up) you can easily drive without doors. If you look 'suspect', then expect to get pulled over for multiple violations (mudflaps, lift, bumper heights,..... and the no doors / cut doors).
What I typed is state law. It's posted somewhere here. As I said, a good cop and you're OK. An asswipe, and you're not OK.
Read this thread:
http://www.nw-wheelers.com/forum/showthread.php?t=4252