<?xml version="1.0" encoding="UTF-8"?>

<!--XBRL Document Created with the Workiva Platform-->
<!--Copyright 2026 Workiva-->
<!--r:019e890d-994c-77e2-8649-56e6a0a5a7ba,g:0dca7169-6ce3-4e2a-b4d9-072990b1e740-->
<link:linkbase xmlns:link="http://www.xbrl.org/2003/linkbase" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="http://www.xbrl.org/2003/linkbase http://www.xbrl.org/2003/xbrl-linkbase-2003-12-31.xsd">
  <link:roleRef roleURI="http://www.auriniapharma.com/role/CoverPage" xlink:type="simple" xlink:href="auph-20260603.xsd#CoverPage"/>
  <link:presentationLink xlink:role="http://www.auriniapharma.com/role/CoverPage" xlink:type="extended">
    <link:loc xlink:type="locator" xlink:label="loc_dei_CoverAbstract_019e890d-994c-78fa-b12b-08c95b36fa90" xlink:href="https://xbrl.sec.gov/dei/2026/dei-2026.xsd#dei_CoverAbstract"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_DocumentType_019e890d-994c-7feb-96b6-bee58cf88172" xlink:href="https://xbrl.sec.gov/dei/2026/dei-2026.xsd#dei_DocumentType"/>
    <link:presentationArc order="1" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019e890d-994c-78fa-b12b-08c95b36fa90" xlink:to="loc_dei_DocumentType_019e890d-994c-7feb-96b6-bee58cf88172" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_DocumentPeriodEndDate_019e890d-994c-78d4-92e1-47de60744964" xlink:href="https://xbrl.sec.gov/dei/2026/dei-2026.xsd#dei_DocumentPeriodEndDate"/>
    <link:presentationArc order="2" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019e890d-994c-78fa-b12b-08c95b36fa90" xlink:to="loc_dei_DocumentPeriodEndDate_019e890d-994c-78d4-92e1-47de60744964" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_EntityRegistrantName_019e890d-994c-7e76-ac88-fedf7a6d50b1" xlink:href="https://xbrl.sec.gov/dei/2026/dei-2026.xsd#dei_EntityRegistrantName"/>
    <link:presentationArc order="3" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019e890d-994c-78fa-b12b-08c95b36fa90" xlink:to="loc_dei_EntityRegistrantName_019e890d-994c-7e76-ac88-fedf7a6d50b1" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_EntityIncorporationStateCountryCode_019e890d-994c-7ffb-97fb-494dff4690ac" xlink:href="https://xbrl.sec.gov/dei/2026/dei-2026.xsd#dei_EntityIncorporationStateCountryCode"/>
    <link:presentationArc order="4" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019e890d-994c-78fa-b12b-08c95b36fa90" xlink:to="loc_dei_EntityIncorporationStateCountryCode_019e890d-994c-7ffb-97fb-494dff4690ac" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_EntityFileNumber_019e890d-994c-7160-bdcb-16c14a065765" xlink:href="https://xbrl.sec.gov/dei/2026/dei-2026.xsd#dei_EntityFileNumber"/>
    <link:presentationArc order="5" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019e890d-994c-78fa-b12b-08c95b36fa90" xlink:to="loc_dei_EntityFileNumber_019e890d-994c-7160-bdcb-16c14a065765" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_EntityTaxIdentificationNumber_019e890d-994c-7ccb-9a4b-3e82c1af7b38" xlink:href="https://xbrl.sec.gov/dei/2026/dei-2026.xsd#dei_EntityTaxIdentificationNumber"/>
    <link:presentationArc order="6" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019e890d-994c-78fa-b12b-08c95b36fa90" xlink:to="loc_dei_EntityTaxIdentificationNumber_019e890d-994c-7ccb-9a4b-3e82c1af7b38" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_EntityAddressAddressLine1_019e890d-994c-7437-835a-ea59e67ef3f7" xlink:href="https://xbrl.sec.gov/dei/2026/dei-2026.xsd#dei_EntityAddressAddressLine1"/>
    <link:presentationArc order="7" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019e890d-994c-78fa-b12b-08c95b36fa90" xlink:to="loc_dei_EntityAddressAddressLine1_019e890d-994c-7437-835a-ea59e67ef3f7" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_EntityAddressCityOrTown_019e890d-994c-7d22-802f-0f43de12c3a0" xlink:href="https://xbrl.sec.gov/dei/2026/dei-2026.xsd#dei_EntityAddressCityOrTown"/>
    <link:presentationArc order="8" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019e890d-994c-78fa-b12b-08c95b36fa90" xlink:to="loc_dei_EntityAddressCityOrTown_019e890d-994c-7d22-802f-0f43de12c3a0" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_EntityAddressStateOrProvince_019e890d-994c-7af1-aaf7-d34dd0717c5e" xlink:href="https://xbrl.sec.gov/dei/2026/dei-2026.xsd#dei_EntityAddressStateOrProvince"/>
    <link:presentationArc order="9" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019e890d-994c-78fa-b12b-08c95b36fa90" xlink:to="loc_dei_EntityAddressStateOrProvince_019e890d-994c-7af1-aaf7-d34dd0717c5e" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_EntityAddressPostalZipCode_019e890d-994c-7370-bc84-4592a6ab5d25" xlink:href="https://xbrl.sec.gov/dei/2026/dei-2026.xsd#dei_EntityAddressPostalZipCode"/>
    <link:presentationArc order="10" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019e890d-994c-78fa-b12b-08c95b36fa90" xlink:to="loc_dei_EntityAddressPostalZipCode_019e890d-994c-7370-bc84-4592a6ab5d25" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_CityAreaCode_019e890d-994c-75eb-848c-ccfe47b97424" xlink:href="https://xbrl.sec.gov/dei/2026/dei-2026.xsd#dei_CityAreaCode"/>
    <link:presentationArc order="11" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019e890d-994c-78fa-b12b-08c95b36fa90" xlink:to="loc_dei_CityAreaCode_019e890d-994c-75eb-848c-ccfe47b97424" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_LocalPhoneNumber_019e890d-994c-780e-9910-728e56cfb975" xlink:href="https://xbrl.sec.gov/dei/2026/dei-2026.xsd#dei_LocalPhoneNumber"/>
    <link:presentationArc order="12" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019e890d-994c-78fa-b12b-08c95b36fa90" xlink:to="loc_dei_LocalPhoneNumber_019e890d-994c-780e-9910-728e56cfb975" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_WrittenCommunications_019e890d-994c-7494-b6bb-32b57073cd05" xlink:href="https://xbrl.sec.gov/dei/2026/dei-2026.xsd#dei_WrittenCommunications"/>
    <link:presentationArc order="13" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019e890d-994c-78fa-b12b-08c95b36fa90" xlink:to="loc_dei_WrittenCommunications_019e890d-994c-7494-b6bb-32b57073cd05" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_SolicitingMaterial_019e890d-994c-7385-8a89-a7aca7b396b2" xlink:href="https://xbrl.sec.gov/dei/2026/dei-2026.xsd#dei_SolicitingMaterial"/>
    <link:presentationArc order="14" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019e890d-994c-78fa-b12b-08c95b36fa90" xlink:to="loc_dei_SolicitingMaterial_019e890d-994c-7385-8a89-a7aca7b396b2" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_PreCommencementTenderOffer_019e890d-994c-70e3-b6c6-9163108d2963" xlink:href="https://xbrl.sec.gov/dei/2026/dei-2026.xsd#dei_PreCommencementTenderOffer"/>
    <link:presentationArc order="15" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019e890d-994c-78fa-b12b-08c95b36fa90" xlink:to="loc_dei_PreCommencementTenderOffer_019e890d-994c-70e3-b6c6-9163108d2963" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_PreCommencementIssuerTenderOffer_019e890d-994c-794b-8c10-5f9acfd16aca" xlink:href="https://xbrl.sec.gov/dei/2026/dei-2026.xsd#dei_PreCommencementIssuerTenderOffer"/>
    <link:presentationArc order="16" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019e890d-994c-78fa-b12b-08c95b36fa90" xlink:to="loc_dei_PreCommencementIssuerTenderOffer_019e890d-994c-794b-8c10-5f9acfd16aca" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_Security12bTitle_019e890d-994c-749a-a63c-4ccf0bd48455" xlink:href="https://xbrl.sec.gov/dei/2026/dei-2026.xsd#dei_Security12bTitle"/>
    <link:presentationArc order="17" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019e890d-994c-78fa-b12b-08c95b36fa90" xlink:to="loc_dei_Security12bTitle_019e890d-994c-749a-a63c-4ccf0bd48455" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_TradingSymbol_019e890d-994c-79e1-ac34-3e3db760ce8f" xlink:href="https://xbrl.sec.gov/dei/2026/dei-2026.xsd#dei_TradingSymbol"/>
    <link:presentationArc order="18" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019e890d-994c-78fa-b12b-08c95b36fa90" xlink:to="loc_dei_TradingSymbol_019e890d-994c-79e1-ac34-3e3db760ce8f" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_SecurityExchangeName_019e890d-994c-7d8a-9aee-9cbe47f68541" xlink:href="https://xbrl.sec.gov/dei/2026/dei-2026.xsd#dei_SecurityExchangeName"/>
    <link:presentationArc order="19" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019e890d-994c-78fa-b12b-08c95b36fa90" xlink:to="loc_dei_SecurityExchangeName_019e890d-994c-7d8a-9aee-9cbe47f68541" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_EntityEmergingGrowthCompany_019e890d-994c-79c4-9730-edbdb01bbe13" xlink:href="https://xbrl.sec.gov/dei/2026/dei-2026.xsd#dei_EntityEmergingGrowthCompany"/>
    <link:presentationArc order="20" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019e890d-994c-78fa-b12b-08c95b36fa90" xlink:to="loc_dei_EntityEmergingGrowthCompany_019e890d-994c-79c4-9730-edbdb01bbe13" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_EntityCentralIndexKey_019e890d-994c-700c-a67c-826566c60f1b" xlink:href="https://xbrl.sec.gov/dei/2026/dei-2026.xsd#dei_EntityCentralIndexKey"/>
    <link:presentationArc order="21" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019e890d-994c-78fa-b12b-08c95b36fa90" xlink:to="loc_dei_EntityCentralIndexKey_019e890d-994c-700c-a67c-826566c60f1b" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_AmendmentFlag_019e890d-994c-72ad-91d9-ca68818492a3" xlink:href="https://xbrl.sec.gov/dei/2026/dei-2026.xsd#dei_AmendmentFlag"/>
    <link:presentationArc order="22" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019e890d-994c-78fa-b12b-08c95b36fa90" xlink:to="loc_dei_AmendmentFlag_019e890d-994c-72ad-91d9-ca68818492a3" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_CurrentFiscalYearEndDate_019e890d-994c-7881-bb85-ac9c163687f8" xlink:href="https://xbrl.sec.gov/dei/2026/dei-2026.xsd#dei_CurrentFiscalYearEndDate"/>
    <link:presentationArc order="23" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019e890d-994c-78fa-b12b-08c95b36fa90" xlink:to="loc_dei_CurrentFiscalYearEndDate_019e890d-994c-7881-bb85-ac9c163687f8" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
  </link:presentationLink>
</link:linkbase>
