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<!-- DFIN New ActiveDisclosure (SM) XBRL Schema Document - http://www.dfinsolutions.com/ -->
<!-- Creation Date :2023-07-26T11:43:07.1028+00:00 -->
<!-- Copyright (c) 2023 Donnelly Financial Solutions, Inc. All Rights Reserved. -->
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  <xsd:element id="alsn_DebtInstrumentCovenantLeverageRatioMaximum" name="DebtInstrumentCovenantLeverageRatioMaximum" type="xbrli:pureItemType" substitutionGroup="xbrli:item" xbrli:periodType="instant" nillable="true" abstract="false"/>
  <xsd:element id="alsn_VendorBuybackObligation" name="VendorBuybackObligation" type="xbrli:monetaryItemType" substitutionGroup="xbrli:item" xbrli:periodType="instant" nillable="true" abstract="false" xbrli:balance="credit"/>
  <xsd:element id="alsn_InterestRateSwapsAMember" name="InterestRateSwapsAMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="alsn_VariableRateThreeMember" name="VariableRateThreeMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="alsn_CashPaidDuringPeriodAbstract" name="CashPaidDuringPeriodAbstract" type="xbrli:stringItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="alsn_ProductSalesCreditTerm" name="ProductSalesCreditTerm" type="xbrli:durationItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false"/>
  <xsd:element id="alsn_OutsideNorthAmericaOffHighwayMember" name="OutsideNorthAmericaOffHighwayMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="alsn_CustomerRelationshipsCommercialMember" name="CustomerRelationshipsCommercialMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="alsn_AccumulatedOtherComprehensiveIncomeDerivativesQualifyingAsHedgesMember" name="AccumulatedOtherComprehensiveIncomeDerivativesQualifyingAsHedgesMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="alsn_GFrederickBohleySeniorVicePresidentChiefFinancialOfficerAndTreasurer1Member" name="GFrederickBohleySeniorVicePresidentChiefFinancialOfficerAndTreasurer1Member" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="alsn_DebtInstrumentCovenantLienLeverageRatio" name="DebtInstrumentCovenantLienLeverageRatio" type="xbrli:pureItemType" substitutionGroup="xbrli:item" xbrli:periodType="instant" nillable="true" abstract="false"/>
  <xsd:element id="alsn_VariableRateTwoMember" name="VariableRateTwoMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="alsn_NorthAmericaOffHighwayMember" name="NorthAmericaOffHighwayMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="alsn_GoodwillAndIntangibleAssetsDisclosureLineItems" name="GoodwillAndIntangibleAssetsDisclosureLineItems" type="xbrli:stringItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="alsn_LoansToThirdParties" name="LoansToThirdParties" type="xbrli:monetaryItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false" xbrli:balance="credit"/>
  <xsd:element id="alsn_VariableRateComponentDomain" name="VariableRateComponentDomain" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="alsn_FivePointEightSevenFivePercentageSeniorNotesDue2029Member" name="FivePointEightSevenFivePercentageSeniorNotesDue2029Member" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="alsn_DebtInstrumentRedemptionPricePercentageOfPrincipalAmountRedeemable" name="DebtInstrumentRedemptionPricePercentageOfPrincipalAmountRedeemable" type="dtr-types:percentItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false"/>
  <xsd:element id="alsn_VotingCommonStockMember" name="VotingCommonStockMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="alsn_SalesIncentives" name="SalesIncentives" type="xbrli:monetaryItemType" substitutionGroup="xbrli:item" xbrli:periodType="instant" nillable="true" abstract="false" xbrli:balance="credit"/>
  <xsd:element id="alsn_StockRepurchaseProgramAuthorizedTextBlock" name="StockRepurchaseProgramAuthorizedTextBlock" type="dtr-types:textBlockItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false"/>
  <xsd:element id="alsn_Rule10B51TradingPlanMember" name="Rule10B51TradingPlanMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="alsn_VariableRateOneMember" name="VariableRateOneMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="alsn_SecuredOvernightFinancingRateBenchmarkMember" name="SecuredOvernightFinancingRateBenchmarkMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="alsn_LesseeRightOfUseAssetsTableTextBlock" name="LesseeRightOfUseAssetsTableTextBlock" type="dtr-types:textBlockItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false"/>
  <xsd:element id="alsn_DefenseMember" name="DefenseMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="alsn_ContractWithCustomerLiabilityIncrease" name="ContractWithCustomerLiabilityIncrease" type="xbrli:monetaryItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false" xbrli:balance="credit"/>
  <xsd:element id="alsn_ScheduleOfAcquiredFiniteAndIndefiniteLivedIntangibleAssetByMajorClassTable" name="ScheduleOfAcquiredFiniteAndIndefiniteLivedIntangibleAssetByMajorClassTable" type="xbrli:stringItemType" substitutionGroup="xbrldt:hypercubeItem" xbrli:periodType="duration" nillable="true" abstract="true"/>
</xsd:schema>
