I listened to
I heard the children laughing.
Eu escutei você falando com alguém?
Did I hear you talking to someone?
Eu escutei Tom cuidadosamente.
I listened to Tom carefully.
Eu escutei que ele fugiu porque a família dele morreu.
I heard that he ran away because his family died.
— Moonrise Kingdom (2012)
Eu escutei do que vocês dois conversavam.
I overheard what you two were talking about.
— Shrek (2001)
Eu escutei, mas não ouvi nada.
I listened, but I didn't hear anything.
Eu escutei a maçaneta sacudir.
I heard the doorknob rattle.
I heard everything.