Unrestrictive things are loose, lax, or unstructured. You might be jealous of your best friend's unrestrictive household, but remember that your parents probably have good reasons for limiting your TV time and setting a curfew.
An unrestrictive environment is one that doesn't come with a lot of limitations — it's "lax," "unsupervised," or "unstructured." This might be okay for free time, free association, or free jazz, but it probably isn't such a great idea when you're teaching, say, rocket science, electrical wiring, or space shuttle navigation.