I have one post with 3 downvote and to receive
Peer Pressure badge I've deleted it, but after I've got what I wanted, I've restored it.
Is this legal?
Can I use this technique in the future?
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Most badges are not automatically revoked if the conditions that caused you to earn the badge are no longer met. The exception to this are the tag badges where you do lose the badge if your total score or the number of answers you have given falls below the threshold.
So you won't lose the Peer Pressure badge if you undelete the post. However, given that the post is at a score of -3 (or lower) it's clearly not a very good post, so I question the need for it to be undeleted. What benefit does it give you or the site to have this post visible?
If you get another post that has a score of -3 or lower and delete that you won't gain another badge as the Peer Pressure badge is awarded only the once.