Autism spectrum disorder (ASD), a neurodevelopmental disorder, manifests as impairment in social communication an interaction with restrictive and repetitive patterns of behaviour. Yoga therapy, a mind-body intervention, employs a multi-dimensional approach to reduce psychological distress and bring balance and harmony at the levels of body, breath and mind through physical postures, breathing practices, chanting, and relaxation techniques, respectively, thus enhancing overall well-being. Various yoga studies have shown promise in improving symptoms of ASD by improvement in sensory processing, gross motor skills, balance and coordination, cognition, imitation skills, and the ability to connect in relationships. This chapter aims to provide an overview of the potential role of Yoga therapy in the management of ASDs with emphasis on future standardized yoga trials with robust methodology and long-term follow-ups to establish the clinical utility of Yoga therapy for the same. Also, a tentative yoga lifestyle module for ASD with necessary contra-indications and practical tips has been provided.