Objective. The purpose of this article is to examine the relationship between mother–youth closeness and stigma stemming from police contact. Background. Research increasingly indicates that stigma stemming from police–youth encounters links police contact to compromised outcomes among youth, though less is known about the correlates of stigma stemming from this criminal legal contact. Close mother–youth relationships, commonly understood to be protective for youth outcomes, may be one factor that buffers against stop-related stigma, especially the anticipation of stigma. Method. We use data from the Fragile Families and Child Wellbeing Study, a sample of youth born in urban areas around the turn of the 21st century, to examine the relationship between mother–youth closeness and stop-related stigma. Results. We find that mother–youth closeness is negatively associated with stop-related anticipated stigma but not stop-related experienced stigma. We also find that the relationship between mother–youth closeness and stop-related anticipated stigma is concentrated among youth experiencing a non-intrusive stop. Conclusion. Close mother–youth relationships may protect against stigma stemming from criminal legal contact.