In everyday life, the brain integrates information from different sensory modalities to form a coherent perception of the surrounding environment. This process, known as multisensory integration, enhances the brain’s response to redundant congruent sensory cues and emerges gradually during the developmental period, based on our experience with cross-modal stimuli. Consequently, integrative abilities develop in an altered form in individuals subjected to atypical multisensory experiences during the developmental period, such as those on the autistic spectrum. However, to interact with and correctly perceive the environment, the brain must also segregate sensory inputs from distinct events. The ability to correctly bind congruent stimuli and segregate stimuli belonging to different events, known as causal inference problem, is closely tied to multisensory integration, but no research has been conducted on its developmental trajectories and its relationship with experience thus far. Here, we used a neuro-computational model to investigate the development of causal inference in neurotypical and autistic children. Our findings reveal that increased exposure to cross-modal cues expedites the acquisition of causal inference abilities. Notably, a minimum level of experience with multisensory stimuli is crucial to develop fully mature behavior. Simulations of individuals with autism, assuming reduced multisensory experience, indicate a delayed development of causal inference compared to neurotypical individuals. Overall, this study provides a computational framework, highlighting that the development of causal inference follows the evolution of the mechanisms subserving multisensory integration and suggesting testable predictions about the development of such abilities in typically developed and autistic children.