Automatic transmission is a key factor for autonomous driving. The transmission condition is highly affected by the quality and quantity of transmission oil in the system. However, the oil condition is not monitored in the system, and the oil change interval and method are still a subject of discussion. This paper analyzes the effects of oil changes in automatic transmissions. The measurements were carried out before and after the oil change with the same external conditions. With the vibration measurement method, data can be collected without disassembling the parts and during operational conditions. Furthermore, time- and frequency-based analyses were conducted to compare different transmissions’ operations. The results have shown that the effect of oil degradation is measurable on the amplitude of the signals and, therefore, predictable with vibration diagnostics. During the evaluation, the maximum values were compared on measurements with at least a 2-s length.