The autonomic nervous system (ANS) includes the sympathetic, parasympathetic, and enteric nervous systems, and its senior regulatory center includes the brainstem, cingulate gyrus, and hypothalamus. Acupuncture can affect visceral, vascular, and glandular functions via the autonomic nervous regulatory pathway. In this paper, the relationship between pain and autonomic nervous function, the application of acupuncture guided by the autonomic nervous system, and the basis and clinical research on acupuncture analgesia are reviewed.