I suppose "The ball went between his legs" or "The ball went through his legs" would be best here.
It would not mean that the ball stopped there.
For that you'd need "The ball stopped [or: came to rest] between his legs."
These usages are colloquial and common.
It seems the context here is sports, where colloquial language is natural.
I don't like "passed" here. Doesn't seem natural to me here; it might be okay in other countries.
I would say "The bullet passed between his kidneys and his liver."
The plane passed between two tall buildings before it crashed.
The highway passes between Toronto and Newmarket.
I'd be less likely to use "pass" for simple motion of a ball.
Of course language is highly individual, and varies from country to country and even from person to person. Others might disagree with me here.