diff --git a/packages/@aws-cdk/aws-autoscaling/lib/step-scaling-policy.ts b/packages/@aws-cdk/aws-autoscaling/lib/step-scaling-policy.ts
index ff96848cf048e..2632d6ff0271d 100644
--- a/packages/@aws-cdk/aws-autoscaling/lib/step-scaling-policy.ts
+++ b/packages/@aws-cdk/aws-autoscaling/lib/step-scaling-policy.ts
@@ -108,6 +108,7 @@ export class StepScalingPolicy extends Construct {
       this.lowerAction = new StepScalingAction(this, 'LowerPolicy', {
         adjustmentType: props.adjustmentType,
         cooldown: props.cooldown,
+        estimatedInstanceWarmup: props.estimatedInstanceWarmup,
         metricAggregationType: props.metricAggregationType ?? aggregationTypeFromMetric(props.metric),
         minAdjustmentMagnitude: props.minAdjustmentMagnitude,
         autoScalingGroup: props.autoScalingGroup,
@@ -138,6 +139,7 @@ export class StepScalingPolicy extends Construct {
       this.upperAction = new StepScalingAction(this, 'UpperPolicy', {
         adjustmentType: props.adjustmentType,
         cooldown: props.cooldown,
+        estimatedInstanceWarmup: props.estimatedInstanceWarmup,
         metricAggregationType: props.metricAggregationType ?? aggregationTypeFromMetric(props.metric),
         minAdjustmentMagnitude: props.minAdjustmentMagnitude,
         autoScalingGroup: props.autoScalingGroup,
diff --git a/packages/@aws-cdk/aws-autoscaling/test/scaling.test.ts b/packages/@aws-cdk/aws-autoscaling/test/scaling.test.ts
index 8d47c5746100b..18a9b4c351164 100644
--- a/packages/@aws-cdk/aws-autoscaling/test/scaling.test.ts
+++ b/packages/@aws-cdk/aws-autoscaling/test/scaling.test.ts
@@ -205,6 +205,7 @@ describe('scaling', () => {
         namespace: 'Henk',
         dimensionsMap: { Mustache: 'Bushy' },
       }),
+      estimatedInstanceWarmup: cdk.Duration.seconds(150),
       // Adjust the number of legs to be closer to 2
       scalingSteps: [
         { lower: 0, upper: 2, change: +1 },
@@ -241,6 +242,7 @@ describe('scaling', () => {
     Template.fromStack(stack).hasResourceProperties('AWS::AutoScaling::ScalingPolicy', {
       MetricAggregationType: 'Average',
       PolicyType: 'StepScaling',
+      EstimatedInstanceWarmup: 150,
       StepAdjustments: [
         {
           MetricIntervalUpperBound: 0,