diff --git a/docs/resources/changelog.md b/docs/resources/changelog.md
index 95d898fd0..33167f26d 100644
--- a/docs/resources/changelog.md
+++ b/docs/resources/changelog.md
@@ -9,6 +9,7 @@ _During the beta period, these restrictions may be relaxed in the event of a mis
 ## Next
 
 - Added `tag-base`, `tag-content`, and `tag-remove-button` parts to `<sl-select>` [#682](https://github.com/shoelace-style/shoelace/discussions/682)
+- Added support for focusing elements with `autofocus` when `<sl-dialog>` and `<sl-drawer>` open [#688](https://github.com/shoelace-style/shoelace/issues/688) 
 - Fixed a bug that allowed `<sl-dropdown>` to go into an incorrect state when activating the trigger while disabled [#684](https://github.com/shoelace-style/shoelace/pull/684)
 - Fixed a bug where Safari would sometimes not focus after preventing `sl-initial-focus` [#688](https://github.com/shoelace-style/shoelace/issues/688)
 - Improved the size of the remove button in `<sl-tag>`
diff --git a/src/components/dialog/dialog.ts b/src/components/dialog/dialog.ts
index d20b2574f..6cfd91a91 100644
--- a/src/components/dialog/dialog.ts
+++ b/src/components/dialog/dialog.ts
@@ -139,6 +139,17 @@ export default class SlDialog extends LitElement {
     this.hide();
   }
 
+  // Sets focus on the first child element with autofocus, falling back to the panel if one isn't found
+  private setInitialFocus() {
+    const target = this.querySelector('[autofocus]');
+
+    if (target) {
+      (target as HTMLElement).focus({ preventScroll: true });
+    } else {
+      this.panel.focus({ preventScroll: true });
+    }
+  }
+
   handleKeyDown(event: KeyboardEvent) {
     if (event.key === 'Escape') {
       event.stopPropagation();
@@ -164,7 +175,7 @@ export default class SlDialog extends LitElement {
         requestAnimationFrame(() => {
           const slInitialFocus = emit(this, 'sl-initial-focus', { cancelable: true });
           if (!slInitialFocus.defaultPrevented) {
-            this.panel.focus({ preventScroll: true });
+            this.setInitialFocus();
           }
         });
       }
@@ -182,7 +193,7 @@ export default class SlDialog extends LitElement {
         requestAnimationFrame(() => {
           const slInitialFocus = emit(this, 'sl-initial-focus', { cancelable: true });
           if (!slInitialFocus.defaultPrevented) {
-            this.panel.focus();
+            this.setInitialFocus();
           }
         });
       }
diff --git a/src/components/drawer/drawer.ts b/src/components/drawer/drawer.ts
index 350bce0f8..0d7cd34ee 100644
--- a/src/components/drawer/drawer.ts
+++ b/src/components/drawer/drawer.ts
@@ -156,6 +156,17 @@ export default class SlDrawer extends LitElement {
     this.hide();
   }
 
+  // Sets focus on the first child element with autofocus, falling back to the panel if one isn't found
+  private setInitialFocus() {
+    const target = this.querySelector('[autofocus]');
+
+    if (target) {
+      (target as HTMLElement).focus({ preventScroll: true });
+    } else {
+      this.panel.focus({ preventScroll: true });
+    }
+  }
+
   handleKeyDown(event: KeyboardEvent) {
     if (event.key === 'Escape') {
       event.stopPropagation();
@@ -184,7 +195,7 @@ export default class SlDrawer extends LitElement {
         requestAnimationFrame(() => {
           const slInitialFocus = emit(this, 'sl-initial-focus', { cancelable: true });
           if (!slInitialFocus.defaultPrevented) {
-            this.panel.focus({ preventScroll: true });
+            this.setInitialFocus();
           }
         });
       }
@@ -202,7 +213,7 @@ export default class SlDrawer extends LitElement {
         requestAnimationFrame(() => {
           const slInitialFocus = emit(this, 'sl-initial-focus', { cancelable: true });
           if (!slInitialFocus.defaultPrevented) {
-            this.panel.focus();
+            this.setInitialFocus();
           }
         });
       }