Drinking your urine in a survival situation should be your last and only resort to survival.
I would first try to find some other form of water to drink such as from a creek, stream, pond etc or even melt some snow to drink if there is any snow.
If not and you are gonna die of dehydration if you don't get any liquids then yes you can and should drink your urine in a survival situation.
A humans urine is around 95 percent water and sterile, so in the short term it's safe to drink your urine to replenish your lost liquids due to dehydration and can keep you alive until you can get some water or other drinks to hydrate yourself.
But if you drink too much urine it could become toxic so you only want to drink the urine as a last resort and not too often.