Animal-assisted interventions are increasingly used for children with ASD to promote inclusion and quality of life but are not accessible to many families. Companion animals may provide similar benefit but have not been well-investigated within this population. This scoping review presents the state of research regarding natural-based animal exposure to children and adolescents with ASD. Thirteen studies met the criteria for inclusion within this review. The results found primary themes to include social skills and relationships; emerging subthemes included safety and security, and mental health benefits related to social skills. The research was primarily exploratory and qualitative with flawed methodology. Recommendations include continued research with longitudinal designs, more rigorous methodologies, and use of objective measures to study the human-animal bond.