What people really believe tends to get revealed by what they fear. If you fear the criticism of other people more than you fear doing what you know to be wrong, that indicates that you believe that the opinions of people are more important than doing right. If you have a growing relationship with Jesus, the extent to which you fear the same things as other people fear will diminish. As Peter said in the third chapter of his first letter:
Who can harm you, if you become enthusiasts for doing good? Even if you suffer for doing what is right, you are blessed. “Do not fear what they fear, and stop worrying.” Worship the Lord God in your hearts, and always be ready to give an answer to anyone who asks you the reason for the hope inside you, with humility and reverence, in good conscience, so that, when you are criticised, the people who abuse you for your good behaviour in Christ will be embarrassed.
Strong belief in Jesus gives you a form of protection against the insults of others. The more deeply you care about the Kingdom of God, the less you will care about what people say and whether you are abused. This does not mean that you should become insensitive and arrogant; as Peter said, you should be ready to answer people with humility and reverence, and in good conscience.