An integrated control apparatus for an autonomous vehicle includes: a movable control device corresponding to a portable device that performs steering, gear-shifting, acceleration, and braking of a vehicle by a user's control when a driving mode is shifted from an autonomous driving mode to a manual driving mode; and a fixed display device controlled in a touch manner to perform other functions other than steering, gear-shifting, acceleration, and braking, wherein a steering dial switch, a gear-shifting slide switch, an acceleration rotary switch, and a brake button switch are disposed in the movable control device and are manipulated differently.