Every android phone I've owned has required me to check a box hidden in the settings before I could install from outwith the Play store. My current phone gives me an additional pop-up warning that this is a security risk which I have to agree to before it will enable side-loading.
Ultimately you can't completely protect users from their own stupidity. You have to make the security vs usability tradeoff somewhere. I appreciate that my phone allows me to manually install applications - it is in fact one of the reasons I chose it.