This cross-sectional study aimed to evaluate the autonomic response of older women in the six-minute walk test. In total, 32 women aged 60 years or older without a diagnosed health problem were evaluated during the six-minute walk test. To monitor the autonomic response, the following variables were considered: heart rate, systolic and diastolic blood pressure, respiratory rate, and perceived exertion. These variables were compared during rest, effort, and recovery. This study also sought a correlation between autonomic function variables and performance in the test and perceived exertion. Results showed that the effort made by older women in the six-minute walk test induces an autonomic response resulting in increased heart rate and systolic and diastolic blood pressure; however, the respiratory rate remained unchanged during the test. Diastolic blood pressure remained high during recovery. No correlation was found neither between perceived exertion and cardiovascular physiological response nor between distance covered and variation of the autonomic response or level of physical conditioning. Therefore, the effort spent in the six-minute walk test promotes an autonomic response in older women, increasing cardiovascular stress without increasing ventilation. In this context, the Borg scale was not representative of cardiovascular stress during the test.