In the UK we have policing by consent which more or less means the police systems works because as a country we want it to, rather than that they have a union and weapons. We've recently experimented with elected police commissionsers which, to many, seemed a very alien concept.
Our police's history is far from squeaky clean (we have our fair share of corruption, institutional racism and so on), but in general, no-one walks around worrying that they will be murdered with impunity. Not perfect but preferable.
I think the question is as much how you get there as much as where you're heading.