Can the DVLA legally clamp an untaxed and not SORN'd car parked on private land?

Can the DVLA legally clamp an untaxed and SORN-less car parked on private land?

My car was damaged in a private car park - do I have to tell my insurance company?

My car was parked in a private car park and I returned to find damage down the side of the car caused by the car next to it. The person concerned has admitted liability and is claiming on her insurance...