Two functions of lā must be distinguished through meaning and inflection.
Word / formMeaning / explanation
لَا يَخَافُhe does not fear; ordinary negation with indicative imperfect.
لَا تَخَفْdo not fear; prohibition with jussive imperfect.
لَا يُخَافُhe/it is not feared; ordinary passive negation.
لَا يُخَفْlet him/it not be feared; passive prohibition.
The key is whether lā merely denies a proposition or instructs against an action, and the corresponding verbal inflection.