Public experiences with the law in some neighborhoods are marked by an overwhelming police presence alongside deep-seated beliefs that legal agents are disinterested in ensuring public safety. This mutual experience of intrusive policing and legal cynicism has important implications for people’s recognition of the legitimacy of legal authority. In the context of a global city in the Global South, this study provides a quantitative assessment of the dynamics of perceived police intrusion and cynicism about police protection and the implications of those experiences for beliefs about the legitimacy of legal institutions. Drawing on a three-wave longitudinal survey representative of adult residents of eight neighborhoods in São Paulo, Brazil (N = 1,200), I demonstrate that perceived police intrusion and cynicism about police protection (a) are two sides of the same coin, being produced by similar social forces and dynamically reproducing each other and (b) operate to undermine police legitimacy. Integrating the legal cynicism and procedural justice theoretical frameworks, this study shows that intrusive as well as unheeding and neglectful policing practices can contribute to delegitimizing legal authority. I conclude with a discussion about the distribution of repression and protection and highlight the urgency of exploring public–authority relations in the Global South.