There's a psuedo-branch in master, which is "everything since the latest commit that has been pushed out". (This is my own terminology, so don't go Googling for it.) This is the branch that becomes "real" once pushed to the public, and that's when you can no longer rewrite the history without hurting things.
If you are disciplined, it's ok to build on master, but once you realize you need a branch (3 or 4 commits in), it's really easy to deal with. You branch from master, re-checkout master, and git reset --hard back to the public psuedobranch. And it is as if you had a branch all along.
I play the same game with git svn sometimes, except the psuedobranch is the "stuff that has not yet been committed to SVN" and it's a lot more clear where the cutoff is. I won't pretend this is perfect, but it does work.
(The problem I have with branching off for absolutely everything is that I find it easy to end up with too many branches to remember what's what. Granted, I'm the team lead and I may be more prone to that than a team member with more defined tasks.)