Autistic children and their parents are at risk for mental health problems, but the processes driving these connections are unknown. Leveraging three data cycles (spaced M = 11.76 months, SD = 2.77) on 162 families with autistic children (aged 6–13 years), the associations between parent–child relationship quality (warmth and criticism), child mental health problems, and parent depression symptoms were examined. A complete longitudinal mediation model was conducted using structural equation modeling. Father depression mediated the link between child mental health problems and father critical comments (β = −0.017, p = 0.018; CI [−.023 – −.015]). Father report of child mental health problems mediated the association between father depression and father critical comments (β = 0.016, p = 0.040; CI [0.003–0.023]) as well as the association between father positive remarks and father depression (β = −0.009, p = 0.032; CI [−0.010 – −0.009]). Additionally, father positive remarks mediated the connection between father depression and child mental health problems (β = 0.022, p = 0.006; CI [0.019–0.034]). No mediation effects were present for mothers. Findings highlight that the mental health of parents and autistic children are intertwined. Interventions that improve the parent–child relationship may reduce the reciprocal toll of parent and child mental health problems.