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Autonomous systems are increasingly deployed in critical domains where ethical decision-making is paramount, yet current approaches lack robust mechanisms for embedding moral constraints directly into agent architectures. This paper introduces Constitutional Agent, a novel framework that integrates constitutional AI principles into autonomous decision-making systems through a multi-layered ethical reasoning architecture. Our approach combines rule-based constitutional constraints with learned ethical preferences, enabling agents to make decisions that align with human values while maintaining operational efficiency. We propose a Constitutional Reasoning Module (CRM) that evaluates potential actions against a hierarchical set of ethical principles, incorporating both deontological rules and consequentialist considerations. Through extensive evaluation on autonomous vehicle navigation, healthcare decision support, and financial trading scenarios, we demonstrate that Constitutional Agent reduces ethical violations by 73% compared to baseline reinforcement learning agents while maintaining 94% of original task performance. Our framework introduces a novel Constitutional Violation Detection (CVD) mechanism that identifies potential ethical conflicts in real-time, achieving 89% accuracy in predicting human ethical judgments. The system's interpretability features provide clear explanations for ethical decisions, crucial for deployment in high-stakes environments. Key contributions include: (1) a scalable architecture for embedding constitutional constraints in autonomous systems, (2) a comprehensive evaluation framework for measuring ethical compliance, and (3) empirical evidence that constitutional AI can maintain performance while significantly improving ethical behavior. This work establishes a foundation for developing trustworthy autonomous systems that can operate safely in complex moral landscapes.