Aim To examine and compare the autonomic responses, as assessed through the non-linear and chaotic global metrics of heart rate variability in two groups: the Parkinson’s Disease Group (PDG) and the Control Group (CG), both at rest and during an active tilt test. Methods The study encompassed 46 participants (PDG: n = 23; 73.73 ± 7.28 years old; CG: n = 23; 70.17 ± 8.20 years old). Initial data collection involved the acquisition of participant’s characteristics. The autonomic modulation was estimated both at rest and during the active tilt test. For this assessment, we computed non-linear indices derived from five entropies (Approximate, Sample, Shannon, Renyi, Tsallis), Detrended Fluctuation Analysis and the seven chaotic global metrics (hsCFP1-hsCFP7). Results At rest, the PDG exhibited lower values of hsCFP3 (0.818 ± 0.116 vs. 0.904 ± 0.065; p < 0.05) and Sample Entropy (0.720 ± 0.149 vs. 0.799 ± 0.171; p < 0.05). During the test, the PDG demonstrated lower values of ApEn, while the CG presented lower values of SampEn, hsCFP1, hsCFP3, hsCFP7, and higher values of hsCFP5. An interaction was observed, indicating that hsCFP1 and hsCFP3 exhibit differential behavior for the CG and PDG in response to the test. Conclusion subjects with PD exhibited reduced complexity of the RR interval series at rest, and a diminished autonomic response to the active tilt test when compared with the CG. The test, together with non-linear indices, may serve for assessing the Autonomic Nervous System in individuals with PD in a clinical setting. The interpretation of these data should be approached with caution, given the possible influences of pharmacotherapies and the inclusion of diabetic participants.