This volume LNCS 14615 constitutes the refereed proceedings of the 10th International Conference on Modelling and Simulation for Autonomous Systems, MESAS 2023, in October 17-19, 2023, in Palermo, Italy. The 21 full papers presented together with 4 short papers were carefully reviewed and selected from 49 submissions. The conference focuses to to unite the Modelling and Simulation and the Autonomous Systems/Robotic communities, creating a space for the exchange of innovative ideas and concept development. .