For highly squinted synthetic aperture radar (SAR) imaging, the wavenumber domain SAR processing algorithm is commonly accepted as an ideal solution to SAR focusing in the case of an ideal straight sensor trajectory. However, airborne SAR is very sensitive to atmospheric turbulence that causes serious trajectory deviations. In this paper, we propose a robust autofocusing approach for highly squinted airborne SAR imagery using the extended wavenumber algorithm, being capable of estimating the range-dependent phase errors. To apply the proposed autofocusing scheme, a detailed analysis of the motion error model in the conical reference system is presented, where the formulation of range-dependent phase errors for squinted SAR is given. The proposed autofocusing approach is performed by a three-step process: referring to the inevitable residual phase after deramping for highly squinted SAR, a modified squinted phase gradient autofocusing (SPGA) algorithm is put forward to retrieve the range-independent phase errors; based on the established motion error model, the residual range-dependent phase errors are estimated using a local maximum likelihood-weighted SPGA algorithm; and motion compensation is executed by a two-step approach to reach the range-independent and range-dependent corrections, respectively. Experiments based on measured data have shown that the proposed autofocusing approach performs well for highly squinted SAR imaging.