Perhaps you were thinking of Matthew 7:1,2  "Judge not, that you may not be judged; for your own judgement will be dealt–and your own measure meted–to yourselves.” 

This does not mean every action and everybody is ok. Later in chapter 7 Jesus says, (verse 6) “cast not your pearls before swine.” Don’t share some precious or holy thought with those who don’t appreciate it. Also he says, (verses 15-19) "Beware of the false teachers–men who come to you in sheep's fleeces, but beneath that disguise they are ravenous wolves. By their fruits you will easily recognize them. Are grapes gathered from thorns or figs from brambles? Just so every good tree produces good fruit, but a poisonous tree produces bad fruit. A good tree cannot bear bad fruit, nor a poisonous tree good fruit. Every tree which does not yield good fruit is cut down and thrown aside for burning. So by their fruits at any rate, you will easily recognize them.” 

We can judge actions but not motives or eternal destiny.

What is the standard by which we judge improper actions as being improper? Isaiah 8:20  “To the law and to the testimony: if they speak not according to this word, it is because there is no light in them.” If we want to be pleasing to God we should know what He expects of us. Can we judge what actions are moral and immoral? Yes. The ten commandants and other details of the law are a guide for morality.

Solomon noted some actions that are displeasing to the Lord and should be displeasing to us.
Proverbs 6:16-19 “These six things doth the LORD hate: yea, seven are an abomination unto him: A proud look, a lying tongue, and hands that shed innocent blood, An heart that deviseth wicked imaginations, feet that be swift in running to mischief, A false witness that speaketh lies, and he that soweth discord among brethren.”

We trust this is an answer to your question.