Certain aspects of the present disclosure provide techniques for autonomous uplink (UL) cancellation. A method that may be performed by a user equipment (UE) includes receiving one or more configurations scheduling a communication with at least one base station (BS), wherein the one or more configurations schedule a UL transmission and a DL transmission such that the UL transmission and the DL transmission overlap in a time domain, determining whether to cancel at least a portion of the UL transmission based on one or more conditions associated with the UL transmission or the DL transmission, wherein the determination of whether to cancel at least the portion of the UL transmission is in response to the UL transmission and the DL transmission overlapping in the time domain, and performing the communication based on the determination, in accordance with aspects of the present disclosure.