Both autonomy and friendship quality have consistently been associated with adolescent adjustment. To date, the potentially moderating role of peer relationships in the context of autonomy achievement has received less attention. The present study used observational and quantitative data, as well as multiple reporters, to examine interactions between adolescent friendship quality and observed autonomy among 57 ninth-grade students (42 female). Friendship quality moderated the association between autonomy and relatedness and adjustment outcomes. Specifically, for those adolescents with high levels of friendship quality, autonomy and relatedness as well as undermining of autonomy were not associated with adjustment. In contrast, friendship quality functioned as a protective factor for adolescents with low levels of autonomy and relatedness or higher levels of undermining autonomy. Results evidenced the protective function of peer relationships in the context of restricted autonomy.