Introduction: Individuals with autism spectrum disorder (ASD) and their families may experience high rates of stigmatization, including self-stigma, public stigma, stigma through association, and structural stigma. Methods: We conducted a scoping review of peer-reviewed publications to identify, describe, and summarize existing literature related to stigma and ASD. Results: Twenty-five articles met our inclusion criteria, including 14 qualitative, 9 quantitative, and 1 mixed method studies and 1 meta-synthesis. Four emergent themes include social perceptions of ASD, social isolation, well-being and responses to stigma, and stigma reduction. Discussion: Knowledge generated from this scoping review provides an overview of the influence that stigma may have on individuals with ASD and their families. Further research directions are suggested to address structural stigma and community inclusion.