The aim of this work was to analyze from a critical perspective the National Policy of Sexuality, Sexual Rights and Reproductive Rights formulated in 2014. This in order to account for the historical and sociocultural construction of policies on sexuality and reproduction in Colombia; and the configuration and reconfiguration of the notion of autonomy that they have made. For the development of this qualitative research, I conducted a documentary review and semi-structured interviews with eleven experts in the Policy of 2014. As a result, the present work presents the construction of a theoretical-methodological framework for the analysis of policies on sexuality and reproduction with a critical and global-local perspective; as well as the historical contextualization of the notion of autonomy in policies on sexuality and reproduction in Colombia and the barriers and challenges for the autonomous practice of contraception. I conclude that, given the intentionality of the 2014 Policy for transcending the biomedical paradigm with which sexuality and reproduction were assumed, the 2014 Policy reveals a public policy exercise for repositioning a social problem in a different angle. By leveraging on the rights-based approach, it makes it possible to enunciate sexuality as a human condition and as a place for the exercise of rights and enjoyment of citizenship.