Annoy nobleman crossing street (6)
I believe the answer is:
pester
'annoy' is the definition.
(thesaurus)
'nobleman crossing street' is the wordplay.
'nobleman' becomes 'peer' (peer is a kind of nobleman).
'crossing' is an insertion indicator.
'street' becomes 'st'.
'peer' enclosing 'st' is 'PESTER'.
(Other definitions for pester that I've seen before include "Harass" , "Bug" , "Annoy with frequent questions" , "Trouble persistently" , "Nag, badger" .)