It's good that you're not experiencing pain, as pain is a definate sign that you're doing something wrong. My advice to you is this: if it's so sore that it you don't think you'll be able to have an effective workout, then take a couple of days off to let it completely heal. If it's not bad enough that it will effect your routine in any way, shape, or form than I don't see any problem with continuing on.
It's your body, you know it better then anyone else does. If you don't think it's a good idea to continue, then don't. The last thing you want to do is cripple your dick...last time I checked they don't make wheelchairs for them.
It's really up to you man. Are you having weaker erections? If so, you may want to take a day or so off. Then again, keep in mind...myself, DLD, BIB , to name a few have made some of our best gains working THROUGH soreness rather than taking time off as we might be naturally inclined to do. When your penis is sore, there's usually tissue fatigue...tissue fatigue can be used to your advantage because it may actually take you LESS work/resistance2 to get the same stretch or pump depending on what type of work you are doing.
I'd say do it unless you're having problems getting up the proper wood for the work out. If that happens, then you need a rest day. Just one will suffice.
I'd try to work through the soreness...warm up extra long and stretch out slowly and completely. Use a super hot but not scalding wash cloth and give your dick a nice hot press for longer than you normally do. That oughta loosen everything up.