diff --git a/bindings/pydrake/BUILD.bazel b/bindings/pydrake/BUILD.bazel
index 4ab6958e7136..eed3acceaa60 100644
--- a/bindings/pydrake/BUILD.bazel
+++ b/bindings/pydrake/BUILD.bazel
@@ -65,6 +65,7 @@ drake_pybind_library(
     py_deps = [
         ":common_py",
         ":math_py",
+        "//bindings/pydrake/util:deprecation_py",
     ],
     py_srcs = [
         "autodiffutils.py",
@@ -132,6 +133,7 @@ drake_pybind_library(
     py_deps = [
         ":common_py",
         ":math_py",
+        "//bindings/pydrake/util:deprecation_py",
     ],
     py_srcs = ["symbolic.py"],
 )
diff --git a/bindings/pydrake/autodiffutils_py.cc b/bindings/pydrake/autodiffutils_py.cc
index f0a678b629af..b8c7b46f0010 100644
--- a/bindings/pydrake/autodiffutils_py.cc
+++ b/bindings/pydrake/autodiffutils_py.cc
@@ -17,6 +17,12 @@ namespace pydrake {
 PYBIND11_MODULE(_autodiffutils_py, m) {
   m.doc() = "Bindings for Eigen AutoDiff Scalars";
 
+  // Install NumPy warning filtres.
+  // N.B. This may interfere with other code, but until that is a confirmed
+  // issue, we should agressively try to avoid these warnings.
+  py::module::import("pydrake.util.deprecation")
+      .attr("install_numpy_warning_filters")();
+
   py::class_<AutoDiffXd> autodiff(m, "AutoDiffXd");
   autodiff
     .def(py::init<const double&, const Eigen::VectorXd&>())