A Pd-catalyzed asymmetric Heck cascade reaction involving the intramolecular carbopalladation of unsaturated hydrocarbons, followed by nucleophilic trapping of the resulting palladium species, is a powerful approach for constructing chiral N-heterocycles. However, the use of prochiral nucleophiles in these reactions remains significantly underexplored. Herein, we report a novel Pd/Cu catalytic system for the asymmetric cascade Heck/Tsuji-Trost reaction of allenamides and aldimine esters. This robust method allows for the rapid synthesis of a wide range of enantiopure non-natural α-substituted tryptophans in high yields (up to 99% yield) with excellent enantioselectivities (up to 98% ee). Additionally, the synthetic utility of this protocol is demonstrated through scale-up experiments and diverse valuable transformations.