Individuals with autism spectrum disorder were often stereotyped as lacking in empathy in the past. We become skeptical of this notion recently. This article is a literature view that collects some important papers since 1985 and focuses on the empathy deficits in autism spectrum disorder. We discussed in three parts, including cognitive empathy, emotional empathy, and initial empathic response. Hopefully, this review can help the families and clinical practitioners gain a more comprehensive understanding of the empathy deficits in autism spectrum disorder. At the end of this paper provides reflections and suggestions.