LATIN DICTIONARYLexicon Latīnum
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“listen” in Latin

Riddle & Arnold A Copious and Critical English–Latin Lexicon, 1864

listen
To hearken, subauscultare aliquid; sermonem alicujus captare, aucupare, or sublegere (comedy): to listen at the door to a conversation, aure foribus admota sermonem captare (Ter., Phorm., 5, 6, 27, sqq.): he listened to all I said, subauscultando excepit voces meas et procul quid narrarem attendit (Cic., Or., 2, 36, 153): ☞ excipere sermonem alicujus does not mean “to listen,” but “to catch up anyone’s words.” See whether anyone is listening, circumspice, num quis est, qui sermonem nostrum aucupet, or ne quis nostro hinc sermoni auceps sit (comedy).
To give attention, Vid: ATTEND.

Quick answer

What is the Latin word for listen?
The usual Latin words for “listen” are aucupor, sublegō, circumspiciō. The right choice depends on the sense; see the distinctions below.

Entry from J. E. Riddle & T. K. Arnold, A Copious and Critical English–Latin Lexicon (rev. C. Anthon, New York: Harper, 1864), digitised by Fergus J. P. Walsh, CC BY-SA 4.0; Latin markup adapted by latindictionary.co.