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 Minnesota, Peeping Tom laws are addressed under the state's invasion of privacy statutes. Minnesota law makes it a crime to intrude upon another person's privacy by surreptitiously gazing, staring, or peeping in the window or any other aperture of a house or place of dwelling of another. This also includes hotel rooms, changing rooms, and any place where a person has a reasonable expectation of privacy. The law is particularly stringent when the intrusion is for the purpose of sexual arousal or gratification. Additionally, Minnesota statutes prohibit the use of cameras, video equipment, or other devices to secretly observe, photograph, or record individuals where they have a reasonable expectation of privacy, such as in bathrooms or dressing rooms, without their consent. The use of drones for such activities would also fall under these prohibitions. These offenses can range from misdemeanors to felonies depending on the circumstances and the presence of aggravating factors, such as prior offenses or the age of the victim.