Can you get a legitimate job?
You can drive people in taxis for starters. What you can also do is help out the local forces (police, medics, firefighters).
Other than that there is now easy way to make cash without having the law on you. It's against GTA V fun.
Here is a link to some activities that can earn you money in GTA 5.
The legal options include:
Taxi Missions - Though getting the cab may require some petty crime.
Invest in a property: You can buy a property which will earn you money or unlock missions.
Finding hidden collectibles: Hidden packages are available immediately, but some of the other collectibles require unlocking.
Invest in the stock market: Buy low, sell high.
Stock market works too. You just invest more money that you get from doing taxi missions or whatever you want to do for legal jobs and it just puts more money into your in-game bank account.
Purchase the docks in Paleto Bay and collect nuclear waste underwater. Each one is worth $25000 and there are 30 of them to collect.
Also, some random events reward you very well, and most involve helping people, rather than hurting them.