The vorpal sword has the property (emphases mine):
When you attack a creature that has at least one head with this weapon and roll a 20 on the attack roll, you cut off one of the creature's heads. The creature dies if it can't survive without the lost head. A creature is immune to this effect if it is immune to slashing damage, doesn't have or need a head, has legendary actions, or the DM decides that the creature is too big for its head to be cut off with this weapon.
A creature dies if it can't survive without the lost head. It is immune to this if it doesn't need a head. Those are both pretty clear conditional statements. My question is how are these decided?
The description tells you
D&D is an exceptions-based game. We begin with the assumption that creatures cannot survive without their head. Any creature that can survive without its head will have that feature noted in its description. For example, the description of a troll (both in the lore, and the 'loathsome limbs' variant sidebar) says that it can survive without its head. The description of a hydra (in its stat block) says that it can survive the death of all but its last head.
OR
The DM decides
Rule 3: "The DM narrates the results of the adventure's actions." If PC's cut off a creature's head with a vorpal sword, the DM decides, based on how they have presented that creature and its fantasy biology in their game, whether or not the creature survives.
Problems with 'The description tells you'
If we start with the assumption that 'creatures cannot survive without their head unless their description says otherwise', why do we have that assumption? It is not stated anywhere in the rules. It is a pretty reasonable assumption that most creatures cannot survive without their heads - but if we limit our cases of survivors to only those that explicitly say so, we are excluding a lot of pretty reasonable cases.
Ettins, for example, seem like they should be able to survive one-headed. If one head is sufficient to control their body when the other one sleeps, as we are told in their lore, then it seems like one head should be able to permanently control the body. In the question If one of an Ettin's heads dies, does the other head die?, Matt Vincent's answer points out that in first edition lore, an ettin explicitly could survive the loss of one head. Matt also compares the vorpal sword to a sword of sharpness, which cuts off limbs rather than decapitating. The sword of sharpness description explicitly says that if a creature has a limb removed, "the effect of such loss [is] determined by the DM", so why would that not also be true of a vorpal sword?
Zombies (and other mindless undead) don't seem like they need a head. They are not alive, just animated corpses. Their undead nature trait means they don't "require air, food, drink, or sleep." Their mindless soldiers trait means they are "unable to comprehend obstacles, tactics, or dangerous terrain." It's not clear to me why a thing that is already dead needs any particular part of its body. In the question Can a zombie survive headless?, the accepted answer (that they cannot) simply makes the exceptions-based argument; if the zombie didn't need its head, its description would tell us...but that seems like an unconvincing example for that particular creature.
In the question Vorpal Sword vs. Wildshape, multiple answers make use of the argument, 'no beast says that it can survive without its head, so no wild-shaped druid is capable of doing so'. And yet, a tour through the beasts reveals multiple creatures that, to me, appear quite plausibly capable of surviving decapitation. Some, because like the ettin they naturally have two heads (amphisbaena, two-headed crocodile, two-headed plesiosaurus) and others because they are fantastic versions of real-world creatures that regularly survive without heads (typically insects1, thus giant fire beetle, giant fly, giant wasp, Pollenella the Honeybee)
Beyond the fact that "the description should tell us" excludes a large number of creatures that seem like reasonable candidates for surviving decapitation, there is the argument of equally applying the principle of "the description should tell us". That is, one of the conditions of immunity to instant death from a vorpal sword is if a creature does not have a head. Should the same principle apply? Should we assume that all creatures have heads unless their descriptions say otherwise? I can't immediately think of any creatures whose descriptions explicitly say they don't have heads, but I can certainly think of creatures that don't have heads (like the shrieker) where this is lack is not noted in the description.
Problems with 'The DM decides'
The description of the vorpal sword gives us one condition that will cause death ('can't survive without the lost head') and five conditions that will render it immune to this effect ('immune to slashing', 'doesn't have a head', 'doesn't need a head', 'has legendary actions', and the DM decides it is too big). Note that only one of these is called out as being up to DM adjudication. Two of them are known quantities described in stat blocks ('immune to slashing', 'has legendary actions'). If 'can't survive', "doesn't have', and 'doesn't need' were supposed to be adjudicated by the DM, why weren't those also included with the 'the DM decides' rules. Why were they grouped with things like 'immune to slashing' which is an objectively verifiable stat? Doesn't this imply 'the description will tell us' reasoning? If the DM was meant to decide this, the vorpal sword could easily have been written as:
The creature dies if The DM decides it can't survive without the lost head. A creature is immune to this effect if it is immune to slashing damage, doesn't have a head, has legendary actions, or the DM decides that the creature is too big for its head to be cut off with this weapon, or that it doesn't need a head.
Neither one of these arguments seems clearly a winner to me. The vorpal sword expects us to know which creatures don't need a head to survive. How are we expected to determine that?
1 While real-world insects do have a concentration of ganglia in their head section, these are mostly responsible for running just the head, and other ganglia clusters in other parts of the body run their own areas; it is a more dispersed arrangement than a mammal's central nervous system. Nor do insects have lungs connected to their mouth; they breathe through holes all over the surface of their body. So a headless insect will often survive for days or longer until they eventually die of dehydration or starvation.