Autism Spectrum Disorder (ASD) symptoms have been proposed to be linked to Autonomic Nervous System (ANS) atypical functioning, in particular sympathetic hyper-arousal and parasympathetic under-activation. The objective of this study was to characterize autonomic functioning at rest in autistic and neurotypical children and adults. To characterize several aspects of autonomic functioning, we recorded simultaneously pupil diameter, heart rate and electrodermal activity during 5 min of rest in 44 children (6-12 years old, 22 autistic) and 42 adults (19-52 years old, 21 autistic). Several parameters allowed to characterize tonic and phasic indices of sympathetic and parasympathetic systems at rest. Autistic children exhibited the expected pattern of parasympathetic under-activation at rest compared to their typically developing (TD) peers, and with a tendency for a higher phasic sympathetic activity. Adults exhibited a reverse autonomic pattern, with autistic individuals showing higher sympathetic tonus and lower sympathetic phasic activity than their TD peers. In conclusion, we observed an autonomic disequilibrium at rest both in autistic children and adults, but with opposite patterns that could reflect adaptive compensation mechanisms during maturation. This disequilibrium in autistic children would switch from excessive phasic components to excessive tonic components in adults, possibly subtended by an atypical locus coeruleus functioning.