The adjective censorious means someone who often criticizes other people.

Synonyms are accusatory, critical, complaining, or condemning.

The word origins from Latin (1530s) censorius meaning “pertaining to a censor”, also “rigid, severe”. It also comes from censor meaning “magistrate” plus –ious.

The students feel awkward in a solemn and censorious class setting.

Molly rolled her eyes at the censorious tone of his voice.

The senator has a censorious attitude to those who don’t share the same opinion as his.