Misjudge (verb)

1. To judge incorrectly or mistakenly.
2. To form an incorrect opinion or estimate about something or someone.

Origin:

From mis- + judge.

Examples:

1. He misjudged the distance and fell into the water.
2. She misjudged the time and missed the train.
3. I misjudged his character and thought he was my friend.
4. You should not misjudge the situation and make a hasty decision.
5. It was easy to misjudge him because of his unassuming appearance.