The distinction is whether the members of the family are acting in unison or as individuals, not whether they all live at the same address. As a result, the following is correct, since all your family members are acting in unison to enforce a curfew:

> My family do not give me permission to be outside after 10pm.

Remember that you can usually avoid this problem by rewriting your sentence:

> My family members do not give me permission to be outside after 10pm.