Introduction: Children with developmental delays (DD) and Autism Spectrum Disorder (ASD) are at a high risk for emotional and behavioral concerns. Research examining co-occurring anxiety in those with ASD during early childhood is scarce. The current study examined rates, symptom manifestation, and parenting risk correlates of anxiety among young children with ASD and those with a non-spectrum DD. Method: The study included a sample of preschool-aged children (M = 4.18 years) with ASD (n = 56) and non-spectrum DD (n = 43). Anxiety symptoms were measured using the CBCL, and parenting was measured using parent-report and observational methods. Results: Results indicated that those with ASD were at a greater risk for anxiety symptoms than those with a non-spectrum DD; however, ASD diagnosis did not differentiate the presentation of anxiety. Inconsistent parenting emerged as predictor of anxiety symptoms for children with ASD. Conclusions: Given the high risk for anxiety in individuals with ASD, it is important to identify and treat anxiety in young children with ASD. The current study highlighted inconsistent parenting as a potential target to address in future parenting interventions for anxiety in young children with ASD.