Idiomatically, you'd be most likely to use...
I never put off doing my homework.
Note that put off is (very slightly) "informal" by comparison with procrastinate, but mostly that's because the latter is a relatively unusual usage in this context (it might be better described as "facetious" and/or "pseudo-intellectual/pretentious" here).
It's grammatically valid to say you don't procrastinate with/over/about/regarding/etc. homework, but there's no particular standard as to which preposition works best there. Usually the specific activity being deferred is contextually implied, not explicitly stated and linked to the verb procrastinate.
I often put off my homework.
I often defer my homework.
*I often procrastinate my homework. (not valid English)
I often procrastinate when it comes to my homework. (or with/over etc.)
I often put off. (unlikely English)
I often defer. (unlikely English)
I often procrastinate. (normal English - I habitually put off doing many/most things)
In OP's context, including an extra (negated) verb such as don't let/allow simply implies that the thing counselled against (procrastination, here) would be likely to happen if you didn't actively make an effort to prevent it (plus of course it implies you have the ability to prevent it happening, by making that effort). The syntax of the two verbs is different...
Don't allow any delay in finishing your work
Don't let there be any delay in finishing your work
...but further details on that should probably be addressed as a separate question.