We have observed the Autler-Townes doublet in a superconducting Al/AlOX/Al transmon qubit that acts as an artificial atom embedded in a three-dimensional Cu microwave cavity at a temperature of 22 mK. Using pulsed microwave spectroscopy, the three lowest transmon levels are isolated, eliminating unwanted effects of higher qubit modes and cavity modes. The long coherence time (similar to 40 mu s) of the transmon enables us to observe a clear Autler-Townes splitting at drive amplitudes much smaller than the transmon level anharmonicity (177 MHz). Three-level density matrix simulations with no free parameters provide excellent fits to the data. At maximum separation, the fidelity of a dark state achieved in this experiment is estimated to be 99.6%-99.9%.