Children with autism spectrum disorder (ASD) may consume a restricted diet, whether due to sensory sensitivities or an adherence to a gluten and casein free (GCF) diet. Our objective was to analyze dietary intake, nutritional status, and sensory profile in children with and without ASD. A descriptive, cross-sectional study was carried out in 65 children (3–12 years, ASD = 35, typical development (TD) = 30). Short Sensory Profile and food frequency questionnaires were applied. All participants were categorized into normal weight and excess weight, typical sensory performance (TP), and probable + definite difference (PD + DD); and ASD group into GCF dieters (ASD-diet) and non-dieters (ASD-no diet). Children with ASD had a higher intake (gr or ml/d) of vegetable drinks (p = 0.001), gluten-free cereals (p = 0.003), and a lower intake of fish (p < 0.001) than TD ones. The ASD group showed a lower score in total sensory profile score (p < 0.001) than TD group. In the ASD group, those who had PD + DD in their sensory profile consumed fewer dairies (p = 0.019), and more cereals (p = 0.036) and protein foods (p = 0.034) than those with TP. These findings confirm the need to consider the neurodevelopment, sensory profile, and type of diet to improve the ASD child’s nutrition. Further long-term research is needed to explore their impact on health.