Purpose <p>The experience of parenting a child with autism spectrum disorder (ASD) often entails unique psychological challenges. Although research on parental stress and adjustment has expanded considerably, the mechanisms through which parents’ self-stigma (PSS) influences parental burnout, perceived competence, and socio-emotional adjustment remain insufficiently theorized. The aim of this study was to examine the longitudinal links among PSS, parental burnout, parental competence, and socio-emotional adjustment among parents of children with ASD. </p> Methods <p>The study employed a cross-lagged panel design with two waves of longitudinal research conducted at six-month intervals. The sample consisted of 182 parents (54.9% female) with a mean age of 40.59 years (Standard deviation = 7.12). Correlational analyses were conducted to examine associations among PSS, parental burnout, parental competence, and socio-emotional adjustment variables, while mediation analyses were performed using structural equation modelling. </p> Results <p>The results indicated that higher levels of PSS significantly increased parental burnout, which in turn reduced parental competence. Lower parental competence was subsequently associated with poorer socio-emotional adjustment. </p> Conclusion <p>These results provide important insights for mental health professionals and intervention programs, highlighting the need to address self-stigma and burnout to foster parental competence and socio-emotional well-being in families of children with ASD.</p>