Collective action is essential for addressing the grand challenges of our time. However, for such action to be successful, decision-making processes must be perceived as legitimate. In this study, we investigate the legitimacy of different voting methods. Using a pre-registered human subject experiment, 120 participants cast their votes using four voting methods: majority voting, combined approval voting, range voting, and the modified Borda count. These methods represent a range of preference elicitation designs, from low to high complexity and flexibility. Furthermore, we developed a legitimacy scale upon which the participants rate the voting methods. The experiment was conducted in a non-political setting (voting on color preferences) and a political context (voting on COVID-19-related questions). Our findings suggest that the perceived legitimacy of a voting method is context-dependent. Specifically, preferential voting methods are seen as more legitimate than majority voting in a political decision-making situation, but only for individuals with well-defined preferences. Furthermore, preferential voting methods are more legitimate than majority voting in a highly polarized situation.