Autoregressive decoding strategy is a commonly used method for text generation tasks with pre-trained language models, while early-exiting is an effective approach to speedup the inference stage. In this work, we propose a novel decoding strategy named Hierarchical Skip Decoding (HSD) for efficient autoregressive text generation. Different from existing methods that require additional trainable components, HSD is a plug-and-play method applicable to autoregressive text generation models, it adaptively skips decoding layers in a hierarchical manner based on the current sequence length, thereby reducing computational workload and allocating computation resources. We fine-tuned pre-trained language models on summarization, end-to-end generation and conversational datasets, demonstrating HSD’s advantages in balancing efficiency and text quality. With almost half of the layers skipped, HSD can sustain 90% of the text quality compared to vanilla autoregressive decoding, outperforming the competitive approaches.