No, by "get away with it" I do not intend to imply not having a conscience.

As for your real life example, kicking an animal, for no particular reason, can only be done by a person who does not have a conscience.
On the other hand, say, you were asked to kick a dog for a certain amount of cash (a lot of it) in return, and no one would see you do that or ever know about it, what would you do? You might even feel bad/guilty, as you said you would, but you still get the cash and would never have to worry about money in your entire life again.

I think given the fact that you can always get away, no matter what kind of behavior you indulge in, I think a person, no matter how righteously inclined, might be tempted to exploit "morality".