In the current study it is examined if the impact of vicarious and personal perceptions of procedural justice on legal cynicism, legitimacy, and offending across time is invariant across race/ethnicity. Using longitudinal data from a sample of serious juvenile offenders from the Pathways to Desistance, the within- and between-individual associations of procedural justice, legal orientations, and offending were tested. Race/ethnic-specific models were estimated to examine differences across race/ethnicity. Positive personal and vicarious experiences with police had positive effects on legal orientations (i.e., legitimacy and cynicism), while vicarious experiences were more influential on offending compared to personal experiences. These effects were consistent across race/ethnicity. Both changes in legitimacy (positive) and cynicism (negative) were important for understanding changes in offending; however, the effect of cynicism was more consistent across race/ethnicity. The findings suggest that procedurally just treatment of juveniles by police can enhance legal compliance.