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https://ico.org.uk/your-data-matters/domestic-cctv-systems-guidance-for-people-using-cctv/
If you are capturing images beyond your property boundary
Which a typical video doorbell facing the street will and many standalone cameras too
Let people know you are using CCTV by putting up signs saying that recording is taking place, and why.
Never seen that next to a video doorbell or domestic CCTV.
There are other requirements too, hard to tell if they are being met by walking down the street.
jellybaby-
The GDPR laws/regulations aren't explicit about signage though, so that ends up just being the ICO's interpretation, and it's no surprise that the ICO are wording things on their website in such a way (it's not in their interest to do anything differently).
In reality the ICO aren't going to come after everyone with a Nest/Ring doorbell because they don't have any signage up, so it's pretty safe to ignore as long as you comply with the main thrust of GDPR and don't misuse the footage.
(None of this is my problem as I don't have any CCTV/smart-doorbells of any form.)
The Govt's own page on it is less forceful on the signage issue:-
Anyway, I'm not going to get into an Internet spat over CCTV signs for domestic/doorbell cameras. The evidence is out there that the ICO and Govt don't really care.
Greenbank
Purposely filming people outside your house for no other reason wouldn't cut it.
But happening to record things that go on outside your own property when the main purpose is for security is likely to be covered as a legitimate basis for doing so, as long as you don't hang on to the footage for longer than necessary.
Caveat Reddit but: https://www.reddit.com/r/gdpr/comments/g93yq1/how_does_gdpr_affect_public_filmingpictures/
My neighbours security cameras caught a dawn raid by 40+ riot police over the road from us. Not going to post that...