In this paper, an autonomous wireless power transfer (WPT) system with constant voltage output in a wide load range is presented. Here, combining self-oscillating control and phase-shift control, a new implementation of the autonomous WPT system is proposed. The proposed autonomous WPT system operates using a self-oscillating control method in the strong coupling region, which can automatically maintain the constant output voltage. In the weak coupling region, a phase-shift control method with a fixed frequency and a variable duty cycle is implemented, and a control strategy based on output voltage estimation is proposed to obtain the constant output voltage. In addition, according to the operating frequency characteristic of the proposed autonomous WPT system, a corresponding coupling region judgment method is presented to guarantee the realization of switching between the two control methods. An experimental prototype with a 24 V output voltage is constructed to validate the practicability of the proposed method. The experimental results show the proposed autonomous WPT system can obtain constant output voltage in a wide load range.