If you add file ipython_config.py into the ~/.ipython/profile_default directory with lines like below, then the autoreload functionality will be loaded on IPython startup (tested on 2.0.0):
print "--------->>>>>>>> ENABLE AUTORELOAD <<<<<<<<<------------"
c = get_config()
c.InteractiveShellApp.exec_lines = []
c.InteractiveShellApp.exec_lines.append('%load_ext autoreload')
c.InteractiveShellApp.exec_lines.append('%autoreload 2')