Background: Occupations constitute a foundation of human existence, however, the impairment of skills in processing sensory information can impact the engagement of children diagnosed with Autism Spectrum Disorder (ASD). Objective: to investigate the relationship between sensory processing and the engagement of autistic children with 2 to 5 years old in their routines. Method: a quantitative correlational study was carried out. Caregivers responses were collected through an online survey, employing a chain-referral sampling method with two questionnaires, the SPM-P (Sensory Processing Measure - Preschool - Home Form) and the CEQ (Children's Engagement Questionnaire). Results: a total of 56 respondent families [30 families with ASD children and 26 with typically developing (TD) children] were obtained. A correlation and multiple regression analysis identified that the final scores for sensory processing and engagement correlated inversely in ASD and TD children, and that ASD diagnosis and impaired Motor Planning and Ideas significantly reduced engagement, while higher age and schooling incresead it. Conclusion: we observed that the use of strategies that increase the child's engagement in their routines is essential to promote the acquisition of new skills for participation in daily life.