The aim of this study was to compare physical fitness-related parameters in Turkish children with mild to moderate autism and their typically developing (TD) peers to determine maternal anxiety level and quality of life. Children with autism had significantly worse scores for all Munich Fitness Test (MFT) parameters except step test heart rate and had lower physical activity levels compared to the TD children (p < 0.05). There was no difference between groups in terms of postural deviations or maternal anxiety scores (p > 0.05). The MFT total score was associated with higher maternal quality of life scores (r = 0.605, p = 0.006). This study showed that despite participating in a regular physical activity program, children with mild to moderate autism have lower physical fitness and activity levels compared to their TD peers, whereas better physical fitness in children with autism has a positive effect on their mothers' quality of life.