I just want to say as a forewarning that answers to this question are going to be extremely subjective and polarized. Depending on how much attention this question gets, you can expect answers from "the Soviet Union killed 60 million people under Stalin" all the way to "Stalin's only mistake was not killing enough Kulaks."
With that out the way, I am of the opinion that the Soviet Union has generally left a negative legacy to westerners for obvious reasons - whatever the truth about the USSR may be, books like Stalin: The Court of the Red Tsar, many of Robert Conquest's works, and a plethora of other - either rightly or wrongly - anti-Soviet sources can be found in school curriculums throughout the western world. (Note: school, for basic education, not college/university necessarily.) The more obvious reason for this legacy, of course, is the cold war. Extensive demonisation of the USSR and socialism very unsurprisingly created a culture of contempt for the Soviet Union. It would be difficult to grow up in the western world, even now, without hearing some sort of hypocritical claims about the USSR. E.g. "the Soviet Union was undemocratic and established dictatorships." Whatever one's opinion on this, the USA and UK did the exact same all throughout the Cold War.
Eastern countries however paint a very different picture indeed. While there is no shortage of stories of citizens of the USSR fleeing in fear, escaping Gulags, etc. many Russians regret the collapse of the USSR and many Russians also have 'Stalinist sympathies.' Furthermore, Levada (a non-government survery/opinions organisation) claims that "the level of nostalgia for the USSR among Russians is now the highest in five years, but it is still far from the maximum of 75 percent registered in 2000." 1 It appears that - at least in Russia - there is nostalgia for and a certainly positive legacy of the USSR.
Apologies if this doesn't conclusively answer your question. I've tried to remain as neutral as possible, and while I recognize that this isn't the most well-sourced nor in-depth answer, it's Christmas morning and I have things to do. I hope that this has given a basic answer to your question, and that this answer encourages others to weigh in with their opinion.
Merry Christmas!