The best replacement for permissive is authoritarian parenting.

The best alternatives to permissive are rated as following:
★★★★★  authoritarian parenting
★★★★  non permissive
★★★★  instructive
★★★★  compulsory counterclaim
★★★  restrictive
★★★  authoritative parenting
★★★  interlock
★★★  enforcing
★★  authoritative
★★  synergistic
★  authoritarian
★  strict parenting
★  copyleft
  authoritarian parents
  disabled
  autocratic
  compulsory counterclaims
  compulsory

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Google Trends

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permissive
authoritarian parenting
non permissive