This study describes children’s “sensory experiences”, generates parents’ perceptions and explanations of these experiences, and compares these experiences across children with and without autism. Parents of 66 preschoolers (29 typically-developing; 37 with autism) were interviewed using a Critical Incident Technique. Parents described a situation where their child had a “good” sensory experience, a situation where their child had a “bad” sensory experience, and their own perception of how these situations felt to the child. The most common unpleasant experiences for both groups related to sound; the most common pleasant experiences involved touch and movement. Children with autism were reported to have more extreme and/or unusual experiences, and negative food-related experiences than typically-developing peers. Parental explanations for children’s responses focused on qualities of the child, stimulus, and/or context. Many parents had difficulty understanding the concept of sensory experiences. Parents of children with autism were more likely to recognize elements in their children’s experiences as being sensory, and likely to attribute these responses to aspects of autism. Parents’ positive response to the interview itself was an unexpected result with clinical relevance