She peeped through the door asking for permission to enter.
Does peeped through have a negative connotation? If so, is there a better word or phrase to be used in such context?
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Yes, peeped through the door suggests something secretive or cautious. That said, it is probably okay to say:
She peeped in asking for permission to enter.
Or, using a close cousin:
She peeked in asking for permission to enter.
The usual phrases also involving "the door" run along the lines of:
She stuck her head in the door asking for permission to enter.
She poked her head in the door asking for permission to enter.
Peeping definitely can have a negative connotation. Consider
He peeped through the window hoping to enter. She saw Tom looking in and called the police.
The phrase, peeping Tom has widespread use (at least in the US) for someone who illegally breaches privacy
a person who derives sexual pleasure from secretly watching people undressing or engaging in sexual activity.
look quickly and furtively at something, especially through a narrow opening
Peeped often has a negative connotation, but not always. The context should establish whether the observer has a RIGHT to be looking.
If someone peeps in my windows, that is negative (he does not have the right to look in). But if a toddler peeps out from behind his mother's dress, that is positive (he has every right to look out and would do more if he weren't shy).
The hole with which I establish who is outside my hotel door is a peephole. I can peep out it, but others should not peep in.