Yup, I completed the entire campaign on Legendary before attempting any other difficulty. I will be completely honest, 7 out of 9 of the missions took me over an hour; 2 out of those 7 took me 2 hours.
Legendary is definitely a lot harder in Reach in comparison to any of the other Halo games. The AI are ridiculously intelligent and powerful. A Needler or Plasma Pistol fired from a grunt will drain your entire shields and kill you within the span of 4 seconds if you don't move. Avoiding fuel rod cannon shots is honestly like dancing around mini-atomic bombs. If anything melee's you, you're dead. The rocket hog seriously takes like 4 accurate attempts to kill a group of jackals.. that's like 20 rockets. The hardest obstacle to tackle would probably be the lack of ammunition of health packs for the intensity of legendary. Considering how much direct headshots it takes to kill a single elite with a DMR/Needler Rifle you will always end up running out ammo eventually in a hard situation.
I cannot explain how insane situations in legendary got. Though I completed it in 2 player Co-op it was as if I the number of players was irrelevant to the crushing power of the covenant.
Anyway, I'm happy I got through all of legendary.. got 5 achievements when I completed it. Now I don't have to worry about getting the achievements for any other difficulty.