We show how the axiomatic structure of scale-space theory can be applied to the auditory domain and be used for deriving idealized models of auditory receptive fields via scale-space principles. For defining a time-frequency transformation of a purely temporal signal, it is shown that the scale-space framework allows for a new way of deriving the Gabor and Gammatone filters as well as a novel family of generalized Gammatone filters with additional degrees of freedom to obtain different trade-offs between the spectral selectivity and the temporal delay of time-causal window functions. Applied to the definition of a second layer of receptive fields from the spectrogram, it is shown that the scale-space framework leads to two canonical families of spectro-temporal receptive fields, using a combination of Gaussian filters over the logspectral domain with either Gaussian filters or a cascade of first-order integrators over the temporal domain. These spectro-temporal receptive fields can be either separable over the time-frequency domain or be adapted to local glissando transformations that represent variations in logarithmic frequencies over time. Such idealized models of auditory receptive fields respect auditory invariances, can be used for computing basic auditory features for audio processing and lead to predictions about auditory receptive fields with good qualitative similarity to biological receptive fields in the inferior colliculus (ICC) and the primary auditory cortex (A1).