There is a rule of thumb which links focal length & shutter speed to avoid blur when taking hand-held shots. Generally your shutter speed should be the same or higher than your focal length to avoid camera shake blur.
In this photo, you have used 300mm focal length but this is really equivalent to 480mm when you take into account the 1.6x crop factor for your camera. So a minimum of 1/500 sec would have given you a much sharper image.
In practice if you brace your body against a wall or tree etc and use a smooth shutter release you can sometimes get away with a slower shutter. Also if your lens has IS or VR then you can usually use a slower shutter speed. Of course using a tripod eliminates this problem but then with a moving insect you have to take into account how fast the insect is moving!!A tripod in this instance is only valuable if you know EXACTLY where the insect will land

.......or a lot of patience