diff --git a/internal/distributed/proxy/httpserver/utils.go b/internal/distributed/proxy/httpserver/utils.go
index f6e9e03fb7..f441d360c0 100644
--- a/internal/distributed/proxy/httpserver/utils.go
+++ b/internal/distributed/proxy/httpserver/utils.go
@@ -750,13 +750,22 @@ func anyToColumns(rows []map[string]interface{}, validDataMap map[string][]bool,
 	}
 
 	isDynamic := sch.EnableDynamicField
+	allowInsertAutoID, _ := common.IsAllowInsertAutoID(sch.GetProperties()...)
+	isAutoIDPK := false
+	pkFieldName := ""
 
 	nameColumns := make(map[string]interface{})
 	nameDims := make(map[string]int64)
 	fieldData := make(map[string]*schemapb.FieldData)
 
 	for _, field := range sch.Fields {
-		if (field.IsPrimaryKey && field.AutoID && inInsert) || field.IsDynamic {
+		if field.IsPrimaryKey {
+			pkFieldName = field.Name
+			if field.AutoID {
+				isAutoIDPK = true
+			}
+		}
+		if (field.IsPrimaryKey && field.AutoID && inInsert && !allowInsertAutoID) || field.IsDynamic {
 			continue
 		}
 		// skip function output field
@@ -845,10 +854,12 @@ func anyToColumns(rows []map[string]interface{}, validDataMap map[string][]bool,
 			}
 			candi, ok := set[field.Name]
 			if field.IsPrimaryKey && field.AutoID && inInsert {
-				if ok {
+				if !ok {
+					continue
+				}
+				if !allowInsertAutoID {
 					return nil, merr.WrapErrParameterInvalidMsg(fmt.Sprintf("no need to pass pk field(%s) when autoid==true in insert", field.Name))
 				}
-				continue
 			}
 			if (field.Nullable || field.DefaultValue != nil) && !ok {
 				continue
@@ -947,6 +958,9 @@ func anyToColumns(rows []map[string]interface{}, validDataMap map[string][]bool,
 	}
 	columns := make([]*schemapb.FieldData, 0, len(nameColumns))
 	for name, column := range nameColumns {
+		if fieldLen[name] == 0 && name == pkFieldName && isAutoIDPK {
+			continue
+		}
 		if fieldLen[name] == 0 && partialUpdate {
 			// for partial update, skip update for nullable field
 			// cause we cannot distinguish between missing fields and fields explicitly set to null
diff --git a/internal/distributed/proxy/httpserver/utils_test.go b/internal/distributed/proxy/httpserver/utils_test.go
index 8dddaa4398..67a90200cd 100644
--- a/internal/distributed/proxy/httpserver/utils_test.go
+++ b/internal/distributed/proxy/httpserver/utils_test.go
@@ -649,6 +649,25 @@ func TestAnyToColumns(t *testing.T) {
 		assert.Equal(t, true, strings.HasPrefix(err.Error(), "no need to pass pk field"))
 	})
 
+	t.Run("insert,autoid==true,allow_insert_auto_id=true", func(t *testing.T) {
+		body := []byte("{\"data\": {\"id\": 0, \"book_id\": 1, \"book_intro\": [0.1, 0.2], \"word_count\": 2, \"classified\": false, \"databaseID\": null}}")
+		req := InsertReq{}
+		coll := generateCollectionSchema(schemapb.DataType_Int64, true, true)
+		coll.Properties = append(coll.Properties, &commonpb.KeyValuePair{
+			Key:   common.AllowInsertAutoIDKey,
+			Value: "true",
+		})
+		var err error
+		err, req.Data, _ = checkAndSetData(body, coll, false)
+		assert.Equal(t, nil, err)
+		assert.Equal(t, int64(0), req.Data[0]["id"])
+		assert.Equal(t, int64(1), req.Data[0]["book_id"])
+		assert.Equal(t, int64(2), req.Data[0]["word_count"])
+		t.Log(req.Data)
+		_, err = anyToColumns(req.Data, nil, coll, true, false)
+		assert.NoError(t, err)
+	})
+
 	t.Run("pass more field", func(t *testing.T) {
 		body := []byte("{\"data\": {\"id\": 0, \"book_id\": 1, \"book_intro\": [0.1, 0.2], \"word_count\": 2, \"classified\": false, \"databaseID\": null}}")
 		coll := generateCollectionSchema(schemapb.DataType_Int64, true, false)