Automated summarization of legal texts poses a significant challenge due to the complex and specialized nature of legal documentation. Despite the recent progress in reinforcement learning for natural language text summarization, its application in the legal domain has been less effective. This paper introduces SAC-VAE, a novel reinforcement learning framework specifically designed for legal text summarization. We leverage a Variational Autoencoder (VAE) to condense the high-dimensional state space into a more manageable lower-dimensional feature space. These compressed features are subsequently utilized by the Soft Actor-Critic (SAC) algorithm for policy learning, facilitating the automated generation of summaries from legal texts. Through comprehensive experimentation, we have empirically demonstrated the effectiveness and superior performance of the SAC-VAE framework in legal text summarization.