Peeping Tom laws—also known as voyeurism laws or invasion of privacy laws—generally make it illegal and a criminal offense to peek into windows or doors on private property to view a person who is fully or partially naked for the purpose of sexual desire or gratification.

Peeping Tom laws vary from state to state and some states require that the victim not realize he or she was being viewed and that the victim had a reasonable expectation of privacy (was in a place where it was reasonable to expect privacy). And some states specifically address the use of unmanned aircraft (drones), cameras, video cameras, and binoculars in connection with such peeping. Some state statutes specifically prohibit peeking into bathrooms, dressing rooms, showers, and baths. And some states characterize this criminal offense as trespassing with the intent to peer or peep.

Peeping Tom laws are located in a state’s statutes—often in the penal or criminal code.

In Colorado, Peeping Tom laws are addressed under the state's invasion of privacy statutes. Colorado law makes it a criminal offense to knowingly observe or take photographs of another person without their consent when that person has a reasonable expectation of privacy. This includes situations where a person is in a state of undress or is engaging in sexual conduct. The law applies to acts committed directly or through the use of technology such as cameras, video equipment, or other devices. Colorado Revised Statutes section 18-3-405.6 specifically criminalizes 'invasion of privacy for sexual gratification', where it is unlawful for an individual to knowingly observe or take photos of another person's intimate parts without consent for the purpose of sexual gratification. This offense can be charged as a misdemeanor or a felony, depending on the circumstances, such as if the victim is a child or if the perpetrator has prior offenses. The use of telescopes, binoculars, cameras, video cameras, or other equipment to commit such acts can lead to enhanced charges. Additionally, the use of drones for voyeuristic purposes would also be subject to these laws. Trespassing with the intent to peer or peep can also be prosecuted under Colorado's criminal trespass statutes.