There are no indications of contemporary responses to the David.
However, the fact that the statue was placed in the town hall of Florence in the 1490s indicates that it was not viewed as controversial.
In the early 16th century, the Herald of the Signoria mentioned the sculpture in a way that suggested there was something unsettling about it: "The David in the courtyard is not a perfect figure because its right leg is tasteless."
By mid-century Vasari was describing the statue as so naturalistic that it must have been made from life.
However, among 20th- and 21st-century art historians there has been considerable controversy about how to interpret it.

Goliath's beard curls around David's sandaled foot, as if the young hero is running his toes through his dead opponent's hair.
Goliath is wearing a winged helmet.
 David's right foot stands firmly on the short right wing, while the left wing, considerably longer, works its way up his right leg to his groin.

The figure has been interpreted in a variety of ways.
 One has been to suggest that Donatello was homosexual and that he was expressing that sexual attitude through this statue.
 A second is to suggest that the work refers to homosocial values in Florentine society without expressing Donatello's personal tendencies.
However, during the Renaissance sodomy was illegal, and over 14,000 men had been tried in Florence for this crime, so this homosexual implication would have been dangerous.
 A third interpretation is that David represents Donatello's effort to create a unique version of the male nude, to exercise artistic licence rather than copy the classical models that had thus far been the sources for the depiction of the male nude in Renaissance art.
There are no indications of contemporary responses to the David. However, the fact that the statue was placed in the town hall of Florence in the 1490s indicates that it was not viewed as controversial. In the early 16th century, the Herald of the Signoria mentioned the sculpture in a way that suggested there was something unsettling about it: "The David in the courtyard is not a perfect figure because its right leg is tasteless." By mid-century Vasari was describing the statue as so naturalistic that it must have been made from life. However, among 20th- and 21st-century art historians there has been considerable controversy about how to interpret it.
Goliath's beard curls around David's sandaled foot, as if the young hero is running his toes through his dead opponent's hair. Goliath is wearing a winged helmet.  David's right foot stands firmly on the short right wing, while the left wing, considerably longer, works its way up his right leg to his groin.
The figure has been interpreted in a variety of ways.  One has been to suggest that Donatello was homosexual and that he was expressing that sexual attitude through this statue.  A second is to suggest that the work refers to homosocial values in Florentine society without expressing Donatello's personal tendencies. However, during the Renaissance sodomy was illegal, and over 14,000 men had been tried in Florence for this crime, so this homosexual implication would have been dangerous.  A third interpretation is that David represents Donatello's effort to create a unique version of the male nude, to exercise artistic licence rather than copy the classical models that had thus far been the sources for the depiction of the male nude in Renaissance art.
David (Donatello)