Context. High resolution (sub-) millimeter polarization observations have opened a new era in the understanding of how magnetic fields are organized in star forming regions, unveiling an intricate interplay between the magnetic fields and the gas in protostellar cores. However, to assess the role of the magnetic field in the process of solar-type star formation, it is key to be able to understand to what extent these polarized dust emission are good tracers of the magnetic field in the youngest protostellar objects. Aims. In this paper, we present a thorough investigation of the fidelity and limitations of using dust polarized emission to map the magnetic field topologies in low-mass protostars. Methods. To assess the importance of these effects, we have performed the analysis of magnetic field properties in 27 realizations of MHD models following the evolution of physical properties in star-forming cores. Assuming a uniform population of dust grains which sizes follow the standard MRN, we analyze the synthetic polarized dust emission maps produced if these grains align with the local B-field thanks to Radiative Torques (B-RATs).Results. We find that (sub-)millimeter polarized dust emission is a robust tracer of the magnetic field topologies in inner protostellar envelopes and is successful at capturing the details of the magnetic field spatial distribution down to radii ∼ 100 au. Measurements of the line-of-sight averaged magnetic field line orientation using the polarized dust emission are precise to < 15 • (typical of the error on polarization angles obtained with observations from large mm polarimetric facilities such as ALMA) in about 75 − 95% of the independent lines of sight peering through protostellar envelopes. Large discrepancies between the integrated B-field mean orientation and the orientation reconstructed from the polarized dust emission are mostly observed in (i) lines of sight where the magnetic field is highly disorganized and (ii) lines of sight probing large column densities. Our analysis shows that high opacity of the thermal dust emission and low polarization fractions could be used to avoid utilizing the small fraction of measurements affected by large errors.