An integrated manipulation apparatus for autonomous vehicles and a control method are provided. When a driving mode is switched from an autonomous driving mode to a manual driving mode, a user manipulates the integrated manipulation apparatus, which is portable, to perform chassis functions, such as steering, speed change, acceleration, and braking of a vehicle, and to perform general functions, such as lamp on/off, honking, and turn indication, as needed. A steering dial switch and a speed change slide switch are different in manipulation manner from an acceleration button switch and a braking button switch.