Judging others could be confusing if you do not know what is written in the Word. The link below is a good study and you should research the translation yourself.
http://www.christianarsenal.com/Apologetics/Discernment.htm
As for fearing God: I fear God because He is my Judge.
"My friends, do not be afraid of those who kill the body, and after that have no more that they can do. But I will show you whom you should fear: Fear Him who, after He has killed, has power to cast into hell; yes, I say to you, fear Him!" (Luke 12:4,5)
Fearing God encourages us to turn away from evil.
"Do not be wise in your own eyes; Fear the LORD and depart from evil" (Proverbs 3:7).
"The fear of the LORD is to hate evil" (Proverbs 8:13).
In His Name,
Eddie