Active particles are widely recognized to potentially revolutionize technologies in numerous biomedical applications. However, the physical origin behind cellular uptake of these particles in the nonequilibrium state remains scarcely understood. Here we combine Brownian dynamics simulation as well as theoretical analysis to provide the criterion for cellular uptake of active particles, related to various physical attributes. Upon enhancing the activity, the uptake efficiency for the active particles with tilted orientation is examined to be nonmonotonic, in stark contrast to the monotonic dependence for active particles orientated normally to the membrane. This can be attributed to the interplay between membrane adhesion energy and kinetic energy of active particles, resulting in unique kinetic pathways. Furthermore, a theoretical model that captures the essential physics of the cellular endocytosis process is developed to reproduce this nonmonotonic feature. The results are of immediate interest to understand and tune activity-mediated cellular interaction and internalization of such emerging colloids.