marked by rudeness or a lack of respect
impudent - cheeky
Being ‘impudent’ can be both endearing and insulting, depending on the situation or who your behaviour is directed towards. If you are impudent in a professional environment, such as to your boss, the word tends to have negative connotations.
When I chastised my child for misbehaving, he gave an impudent smile which I couldn’t help but laugh at.
I couldn't believe Adam had the impudence to laugh at the boss’s suggestion in the meeting.
I told Tom that despite his seniority over me, I expected to get promoted before him. He seemed shocked by impudence.