diff --git a/docs/data/material/components/autocomplete/CustomizedHook.js b/docs/data/material/components/autocomplete/CustomizedHook.js
index 0a2b7281e5f2c6..9098d456b6a53f 100644
--- a/docs/data/material/components/autocomplete/CustomizedHook.js
+++ b/docs/data/material/components/autocomplete/CustomizedHook.js
@@ -1,6 +1,6 @@
 import * as React from 'react';
 import PropTypes from 'prop-types';
-import { useAutocomplete } from '@mui/base/useAutocomplete';
+import useAutocomplete from '@mui/material/useAutocomplete';
 import CheckIcon from '@mui/icons-material/Check';
 import CloseIcon from '@mui/icons-material/Close';
 import { styled } from '@mui/material/styles';
diff --git a/docs/data/material/components/autocomplete/CustomizedHook.tsx b/docs/data/material/components/autocomplete/CustomizedHook.tsx
index 8def3c10cff7e3..68d68ce2e194d0 100644
--- a/docs/data/material/components/autocomplete/CustomizedHook.tsx
+++ b/docs/data/material/components/autocomplete/CustomizedHook.tsx
@@ -1,5 +1,7 @@
 import * as React from 'react';
-import { useAutocomplete, AutocompleteGetTagProps } from '@mui/base/useAutocomplete';
+import useAutocomplete, {
+  AutocompleteGetTagProps,
+} from '@mui/material/useAutocomplete';
 import CheckIcon from '@mui/icons-material/Check';
 import CloseIcon from '@mui/icons-material/Close';
 import { styled } from '@mui/material/styles';
@@ -188,7 +190,7 @@ export default function CustomizedHook() {
       </div>
       {groupedOptions.length > 0 ? (
         <Listbox {...getListboxProps()}>
-          {(groupedOptions as typeof top100Films).map((option, index) => {
+          {groupedOptions.map((option, index) => {
             const { key, ...optionProps } = getOptionProps({ option, index });
             return (
               <li key={key} {...optionProps}>
diff --git a/docs/data/material/components/autocomplete/UseAutocomplete.js b/docs/data/material/components/autocomplete/UseAutocomplete.js
index 8ea6bf3811d61e..5fb7b6741eb5c6 100644
--- a/docs/data/material/components/autocomplete/UseAutocomplete.js
+++ b/docs/data/material/components/autocomplete/UseAutocomplete.js
@@ -1,5 +1,5 @@
 import * as React from 'react';
-import { useAutocomplete } from '@mui/base/useAutocomplete';
+import useAutocomplete from '@mui/material/useAutocomplete';
 import { styled } from '@mui/system';
 
 const Label = styled('label')({
diff --git a/docs/data/material/components/autocomplete/UseAutocomplete.tsx b/docs/data/material/components/autocomplete/UseAutocomplete.tsx
index 2e30c245fcf5a4..5fb7b6741eb5c6 100644
--- a/docs/data/material/components/autocomplete/UseAutocomplete.tsx
+++ b/docs/data/material/components/autocomplete/UseAutocomplete.tsx
@@ -1,5 +1,5 @@
 import * as React from 'react';
-import { useAutocomplete } from '@mui/base/useAutocomplete';
+import useAutocomplete from '@mui/material/useAutocomplete';
 import { styled } from '@mui/system';
 
 const Label = styled('label')({
@@ -63,7 +63,7 @@ export default function UseAutocomplete() {
       </div>
       {groupedOptions.length > 0 ? (
         <Listbox {...getListboxProps()}>
-          {(groupedOptions as typeof top100Films).map((option, index) => {
+          {groupedOptions.map((option, index) => {
             const { key, ...optionProps } = getOptionProps({ option, index });
             return (
               <li key={key} {...optionProps}>
diff --git a/docs/data/material/components/autocomplete/UseAutocomplete.tsx.preview b/docs/data/material/components/autocomplete/UseAutocomplete.tsx.preview
index 10f7a19d40e215..6bd1f59e445bfe 100644
--- a/docs/data/material/components/autocomplete/UseAutocomplete.tsx.preview
+++ b/docs/data/material/components/autocomplete/UseAutocomplete.tsx.preview
@@ -4,7 +4,7 @@
 </div>
 {groupedOptions.length > 0 ? (
   <Listbox {...getListboxProps()}>
-    {(groupedOptions as typeof top100Films).map((option, index) => {
+    {groupedOptions.map((option, index) => {
       const { key, ...optionProps } = getOptionProps({ option, index });
       return (
         <li key={key} {...optionProps}>
diff --git a/docs/pages/material-ui/api/autocomplete.json b/docs/pages/material-ui/api/autocomplete.json
index b61f4c3c93fdaa..42eade3f023ede 100644
--- a/docs/pages/material-ui/api/autocomplete.json
+++ b/docs/pages/material-ui/api/autocomplete.json
@@ -83,7 +83,7 @@
     },
     "groupBy": {
       "type": { "name": "func" },
-      "signature": { "type": "function(options: Value) => string", "describedArgs": ["options"] }
+      "signature": { "type": "function(option: Value) => string", "describedArgs": ["option"] }
     },
     "handleHomeEndKeys": { "type": { "name": "bool" }, "default": "!props.freeSolo" },
     "id": { "type": { "name": "string" } },
diff --git a/docs/translations/api-docs/autocomplete/autocomplete.json b/docs/translations/api-docs/autocomplete/autocomplete.json
index c0c042dd0da31b..2655bbc7d39a99 100644
--- a/docs/translations/api-docs/autocomplete/autocomplete.json
+++ b/docs/translations/api-docs/autocomplete/autocomplete.json
@@ -82,7 +82,7 @@
     },
     "groupBy": {
       "description": "If provided, the options will be grouped under the returned string. The groupBy value is also used as the text for group headings when <code>renderGroup</code> is not provided.",
-      "typeDescriptions": { "options": "The options to group." }
+      "typeDescriptions": { "option": "The Autocomplete option." }
     },
     "handleHomeEndKeys": {
       "description": "If <code>true</code>, the component handles the &quot;Home&quot; and &quot;End&quot; keys when the popup is open. It should move focus to the first option and last option, respectively."
diff --git a/packages/mui-material/src/Autocomplete/Autocomplete.js b/packages/mui-material/src/Autocomplete/Autocomplete.js
index 4cbff62de4ac46..d144af535c10c2 100644
--- a/packages/mui-material/src/Autocomplete/Autocomplete.js
+++ b/packages/mui-material/src/Autocomplete/Autocomplete.js
@@ -994,7 +994,7 @@ Autocomplete.propTypes /* remove-proptypes */ = {
    * If provided, the options will be grouped under the returned string.
    * The groupBy value is also used as the text for group headings when `renderGroup` is not provided.
    *
-   * @param {Value} options The options to group.
+   * @param {Value} option The Autocomplete option.
    * @returns {string}
    */
   groupBy: PropTypes.func,
diff --git a/packages/mui-material/src/useAutocomplete/useAutocomplete.d.ts b/packages/mui-material/src/useAutocomplete/useAutocomplete.d.ts
index b74e6646430106..850bb0f82078a8 100644
--- a/packages/mui-material/src/useAutocomplete/useAutocomplete.d.ts
+++ b/packages/mui-material/src/useAutocomplete/useAutocomplete.d.ts
@@ -1,4 +1,5 @@
 import * as React from 'react';
+import { PartiallyRequired } from '@mui/types';
 
 export interface CreateFilterOptionsConfig<Value> {
   ignoreAccents?: boolean;
@@ -178,7 +179,7 @@ export interface UseAutocompleteProps<
    * If provided, the options will be grouped under the returned string.
    * The groupBy value is also used as the text for group headings when `renderGroup` is not provided.
    *
-   * @param {Value} options The options to group.
+   * @param {Value} option The Autocomplete option.
    * @returns {string}
    */
   groupBy?: (option: Value) => string;
@@ -359,8 +360,19 @@ export function useAutocomplete<
   DisableClearable extends boolean | undefined = false,
   FreeSolo extends boolean | undefined = false,
 >(
-  props: UseAutocompleteProps<Value, Multiple, DisableClearable, FreeSolo>,
-): UseAutocompleteReturnValue<Value, Multiple, DisableClearable, FreeSolo>;
+  props: PartiallyRequired<
+    UseAutocompleteProps<Value, Multiple, DisableClearable, FreeSolo>,
+    'groupBy'
+  >,
+): UseAutocompleteReturnValue<Value, Multiple, DisableClearable, FreeSolo, true>;
+export function useAutocomplete<
+  Value,
+  Multiple extends boolean | undefined = false,
+  DisableClearable extends boolean | undefined = false,
+  FreeSolo extends boolean | undefined = false,
+>(
+  props: Omit<UseAutocompleteProps<Value, Multiple, DisableClearable, FreeSolo>, 'groupBy'>,
+): UseAutocompleteReturnValue<Value, Multiple, DisableClearable, FreeSolo, false>;
 
 export interface UseAutocompleteRenderedOption<Value> {
   option: Value;
@@ -372,6 +384,7 @@ export interface UseAutocompleteReturnValue<
   Multiple extends boolean | undefined = false,
   DisableClearable extends boolean | undefined = false,
   FreeSolo extends boolean | undefined = false,
+  HasGroupBy extends boolean = false,
 > {
   /**
    * Resolver for the root slot's props.
@@ -460,9 +473,11 @@ export interface UseAutocompleteReturnValue<
    */
   focusedTag: number;
   /**
-   * The options to render. It's either `Value[]` or `AutocompleteGroupedOption<Value>[]` if the groupBy prop is provided.
+   * The options to render.
+   * - If `groupBy` is provided, the options are grouped and represented as `AutocompleteGroupedOption<Value>[]`.
+   * - Otherwise, the options are represented as a flat array of `Value[]`.
    */
-  groupedOptions: Value[] | Array<AutocompleteGroupedOption<Value>>;
+  groupedOptions: HasGroupBy extends true ? AutocompleteGroupedOption<Value>[] : Value[];
 }
 
 export default useAutocomplete;
diff --git a/packages/mui-material/src/useAutocomplete/useAutocomplete.spec.ts b/packages/mui-material/src/useAutocomplete/useAutocomplete.spec.ts
index 2d65f0f4d5a9e6..096fd4328bcabc 100644
--- a/packages/mui-material/src/useAutocomplete/useAutocomplete.spec.ts
+++ b/packages/mui-material/src/useAutocomplete/useAutocomplete.spec.ts
@@ -1,5 +1,9 @@
 import { expectType } from '@mui/types';
-import { useAutocomplete, FilterOptionsState } from '@mui/material/useAutocomplete';
+import {
+  useAutocomplete,
+  FilterOptionsState,
+  AutocompleteGroupedOption,
+} from '@mui/material/useAutocomplete';
 
 interface Person {
   id: string;
@@ -181,4 +185,17 @@ function Component() {
     },
     freeSolo: true,
   });
+
+  const ungroupedAutocomplete = useAutocomplete({ options: persons });
+  expectType<Person[], typeof ungroupedAutocomplete.groupedOptions>(
+    ungroupedAutocomplete.groupedOptions,
+  );
+
+  const groupedAutocomplete = useAutocomplete({
+    options: persons,
+    groupBy: ({ id }) => id,
+  });
+  expectType<AutocompleteGroupedOption<Person>[], typeof groupedAutocomplete.groupedOptions>(
+    groupedAutocomplete.groupedOptions,
+  );
 }